#x000116c7 HCFA Co.,Ltd 424dd6020000000000003600000028000000100000000e00000001001800000000000000000000000000000000000000000000000000fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefeffe1efdef2f7f0f2f8f1eaf3e9fafcf9cee5c9d6e8d2d8ead5f9fbf8fffffffbfcfbdaebd5c3ddbcecf6ecfffffffffeff8fc2878fc388b8dab07bbe7275b86790c386b5d7ac56a549b7d9b2eff6ed9bc99772b46761aa4e90c485ffffffffffffa5cf9e3b9a2b6daa5886a76b359622dff0ddffffff87be7c449c32aad1a1bddcba9fcd9893c58658a646f7faf6ffffffd6e8d05cac4dbbd6b5c3918c81a86685c37e89c17db8d9b14ba0387dba6fb6d8ada6d09d77b769489d35f3f9f3fffffffbfdfbd3e7ceeff9f0f0e5e3fff7fbc2e0bd9ac890dfeedbd2e7cea4ce9bc3dfbcbcdbb6aad2a1cce4c9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff AC Servo Driver HCFA-X5E-DRIVER 424dd6020000000000003600000028000000100000000e00000001001800000000000000000000000000000000000000000000000000fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefeffe1efdef2f7f0f2f8f1eaf3e9fafcf9cee5c9d6e8d2d8ead5f9fbf8fffffffbfcfbdaebd5c3ddbcecf6ecfffffffffeff8fc2878fc388b8dab07bbe7275b86790c386b5d7ac56a549b7d9b2eff6ed9bc99772b46761aa4e90c485ffffffffffffa5cf9e3b9a2b6daa5886a76b359622dff0ddffffff87be7c449c32aad1a1bddcba9fcd9893c58658a646f7faf6ffffffd6e8d05cac4dbbd6b5c3918c81a86685c37e89c17db8d9b14ba0387dba6fb6d8ada6d09d77b769489d35f3f9f3fffffffbfdfbd3e7ceeff9f0f0e5e3fff7fbc2e0bd9ac890dfeedbd2e7cea4ce9bc3dfbcbcdbb6aad2a1cce4c9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff HCFA X5E Servo Driver HCFA X5E Servo Driver 2000 9000 5000 200 100 4000 AC Servo Driver 402 BIT2 2 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 SINT 8 USINT 8 ARRAY [0..3] OF BYTE USINT 32 0 4 STRING(20) 160 STRING(3) 24 STRING(4) 32 DT1010 48 0 Number of Entries USINT 8 0 ro o 1 Store Parameters UDINT 32 16 rw o DT1018 144 0 Number of Entries USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of Entries USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT10F1 64 0 Number of Entries USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 rw o 2 Sync Error Counter Limit UINT 16 48 rw o DT1C32 488 0 Number of Entries USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 19 Sync Error BOOL 1 480 ro c DT1C33 488 0 Number of Entries USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 19 Sync Error BOOL 1 480 ro c DT0800EN03 USINT 3 Signed presentation 0 Unsigned presentation 1 DT160x 144 0 Number of Entries USINT 8 0 ro 1 Mapping Entry 1 UDINT 32 16 ro 2 Mapping Entry 2 UDINT 32 48 ro 3 Mapping Entry 3 UDINT 32 80 ro 4 Mapping Entry 4 UDINT 32 112 ro DT1600 656 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw 13 Mapping Entry 13 UDINT 32 400 rw 14 Mapping Entry 14 UDINT 32 432 rw 15 Mapping Entry 15 UDINT 32 464 rw 16 Mapping Entry 16 UDINT 32 496 rw 17 Mapping Entry 17 UDINT 32 528 rw 18 Mapping Entry 18 UDINT 32 560 rw 19 Mapping Entry 19 UDINT 32 592 rw 20 Mapping Entry 20 UDINT 32 624 rw DT1A00 656 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw 13 Mapping Entry 13 UDINT 32 400 rw 14 Mapping Entry 14 UDINT 32 432 rw 15 Mapping Entry 15 UDINT 32 464 rw 16 Mapping Entry 16 UDINT 32 496 rw 17 Mapping Entry 17 UDINT 32 528 rw 18 Mapping Entry 18 UDINT 32 560 rw 19 Mapping Entry 19 UDINT 32 592 rw 20 Mapping Entry 20 UDINT 32 624 rw DT1802 24 0 Number of Entries USINT 8 0 ro 7 TxPDOState BOOL 1 16 ro T 9 TxPDO Toggle BOOL 1 17 ro T DT1A0x 240 0 Number of Entries USINT 8 0 ro 1 Mapping Entry 1 UDINT 32 16 ro 2 Mapping Entry 2 UDINT 32 48 ro 3 Mapping Entry 3 UDINT 32 80 ro 4 Mapping Entry 4 UDINT 32 112 ro 5 Mapping Entry 5 UDINT 32 144 ro 6 Mapping Entry 6 UDINT 32 176 ro 7 Mapping Entry 7 UDINT 32 208 ro DT1C12ARR UINT 16 1 1 DT1C12 32 0 Number of Entries USINT 8 0 rw Elements DT1C12ARR 16 16 rw DT1C13ARR UINT 16 1 1 DT1C13 48 0 Number of Entries USINT 8 0 rw Elements DT1C13ARR 16 16 rw DT2100 528 0 Number of Entries USINT 8 0 ro 1 Motor positive direction definition UINT 16 16 rw 2 Control mode selection UINT 16 32 rw 3 Real time auto-tuning UINT 16 48 rw 4 Stiffness grade setting UINT 16 64 rw 5 Load inertia ratio UINT 16 80 rw 6 Position instruction source UINT 16 96 rw 8 Pulse train form UINT 16 128 rw 9 Instruction units per motor one revolution (32-bit) UDINT 32 144 rw 11 Electronic gear numerator 1(32-bit) UDINT 32 176 rw 13 Electronic gear denominator (32-bit) UDINT 32 208 rw 15 Pulse outputcounts per motor one revolution (32-bit) UDINT 32 240 rw 17 Pulse output positive direction definition UINT 16 272 rw 18 Pulse output OUT_Z polarity UINT 16 288 rw 19 Pulse output function selection UINT 16 304 rw 20 Position deviation too large threshold(32-bit) UDINT 32 320 rw 22 Regenerative resistor setting UINT 16 352 rw 23 External regenerative resistor capacity UINT 16 368 rw 24 External regenerative resistor resistance value UINT 16 384 rw 25 External regenerative resistor heating time constant UINT 16 400 rw 26 Regenerative voltage threshold UINT 16 416 rw 27 Step value setting INT 16 432 rw 28 High pulse type UINT 16 448 rw 29 Moudlo mode absoulate low 32 bit UDINT 32 480 rw 31 Moudlo mode absoulate high 32 bit UDINT 32 512 rw DT2101 576 0 Number of Entries USINT 8 0 ro 1 Position loop gain 1 UINT 16 16 rw 2 Speed loop gain 1 UINT 16 32 rw 3 Speed loop integral time 1 UINT 16 48 rw 4 Speed detection filter 1 UINT 16 64 rw 5 Torque instruction filter 1 UINT 16 80 rw 6 Position loop gain 2 UINT 16 96 rw 7 Speed loop gain 2 UINT 16 112 rw 8 Speed loop integral time 2 UINT 16 128 rw 9 Speed detection filter 2 UINT 16 144 rw 10 Torque instruction filter 2 UINT 16 160 rw 11 Speed regulator PDFF coefficient UINT 16 176 rw 12 Speed feedforward control selection UINT 16 192 rw 13 Speed feedforward gain UINT 16 208 rw 14 Speed feedforward filtering time UINT 16 224 rw 15 Torque feedforward control selection UINT 16 240 rw 16 Torque feedforward gain UINT 16 256 rw 17 Torque feedforward filtering time UINT 16 272 rw 18 Digital input GAIN_SEL function selection UINT 16 288 rw 19 Position control gain switchover mode UINT 16 304 rw 20 Position control gain switchover delay UINT 16 320 rw 21 Position control gain switchover class UINT 16 336 rw 22 Position control gain switchover hysteresis UINT 16 352 rw 23 Position control gain switchover time UINT 16 368 rw 24 Speed control gain switchover mode UINT 16 384 rw 25 Speed control gain switchover delay UINT 16 400 rw 26 Speed control gain switchover class UINT 16 416 rw 27 Speed control gain switchover hysteresis UINT 16 432 rw 28 Torque control gain switchover mode UINT 16 448 rw 29 Torque control gain switchover delay UINT 16 464 rw 30 Torque control gain switchover class UINT 16 480 rw 31 Torque control gain switchover hysteresis UINT 16 496 rw 32 Observer enable UINT 16 512 rw 33 Observer cut-off frequency UINT 16 528 rw 34 Observer phase compensate time UINT 16 544 rw 35 Observer Inertia coefficient UINT 16 560 rw DT2102 608 0 Number of Entries USINT 8 0 ro 1 Position instruction smoothing filter UINT 16 16 rw 2 Position instruction FIR filter UINT 16 32 rw 3 Adaptive filtering mode UINT 16 48 rw 4 Adaptive filter load mode UINT 16 64 rw 5 First notch filter frequency (manual) UINT 16 80 rw 6 First notch filter width UINT 16 96 rw 7 First notch filter depth UINT 16 112 rw 8 Second notch filter frequency (manual) UINT 16 128 rw 9 Second notch filter width UINT 16 144 rw 10 Second notch filter depth UINT 16 160 rw 11 Third notch filter frequency UINT 16 176 rw 12 Third notch filter width UINT 16 192 rw 13 Third notch filter depth UINT 16 208 rw 14 Fourth notch filter frequency UINT 16 224 rw 15 Fourth notch filter width UINT 16 240 rw 16 Fourth notch filter depth UINT 16 256 rw 20 Position instruction FIR filter 2 UINT 16 320 rw 21 First vibration attenuation frequency UINT 16 336 rw 22 First vibration attenuation filter setting UINT 16 352 rw 23 Second vibration attenuation frequency UINT 16 368 rw 24 Second vibration attenuation filter setting UINT 16 384 rw 32 Resonance point 1 frequency UINT 16 512 ro 33 Resonance point 1 bandwidth UINT 16 528 ro 34 Resonance point 1 amplitude UINT 16 544 ro 35 Resonance point 2 frequency UINT 16 560 ro 36 Resonance point 2 bandwidth UINT 16 576 ro 37 Resonance point 2 amplitude UINT 16 592 ro DT2103 848 0 Number of Entries USINT 8 0 ro 1 Speed instruction source selection UINT 16 16 rw 4 Speed instructiondigital setting INT 16 64 rw 5 JOG speed setting UINT 16 80 rw 9 Torque limit source UINT 16 144 rw 10 Internal forward torque limit UINT 16 160 rw 11 Internal reverse torque limit UINT 16 176 rw 12 External forward torque limit UINT 16 192 rw 13 External reverse torque limit UINT 16 208 rw 15 Acceleration time 1 UINT 16 240 rw 16 Deceleration time 1 UINT 16 256 rw 17 Acceleration time 2 UINT 16 272 rw 18 Deceleration time 2 UINT 16 288 rw 20 Zero-speed clamp function UINT 16 320 rw 21 Zero-speed clamp threshold value UINT 16 336 rw 23 Torque instruction source UINT 16 368 rw 26 Torque instructiondigital setting value INT 16 416 rw 27 Speed limit source in torque control UINT 16 432 rw 28 Internal positive speed limit UINT 16 448 rw 29 Internal negative speed limit UINT 16 464 rw 30 Hard stop torque limit UINT 16 480 rw 31 Hard limit torque limit detection time UINT 16 496 rw 32 Internal speed instruction segment numberselection mode UINT 16 512 rw 33 Acceleration time selection for internal speed segment 1-8 UINT 16 528 rw 34 Deceleration time selection for internal speed segment 1-8 UINT 16 544 rw 35 Acceleration time selection for internal speed segment 9-16 UINT 16 560 rw 36 Deceleration time selection for internal speed segment 9-16 UINT 16 576 rw 37 Segment 1 speed INT 16 592 rw 38 Segment 2 speed INT 16 608 rw 39 Segment 3 speed INT 16 624 rw 40 Segment 4 speed INT 16 640 rw 41 Segment 5 speed INT 16 656 rw 42 Segment 6 speed INT 16 672 rw 43 Segment 7 speed INT 16 688 rw 44 Segment 8 speed INT 16 704 rw 45 Segment 9 speed INT 16 720 rw 46 Segment 10 speed INT 16 736 rw 47 Segment 11 speed INT 16 752 rw 48 Segment 12 speed INT 16 768 rw 49 Segment 13 speed INT 16 784 rw 50 Segment 14 speed INT 16 800 rw 51 Segment 15 speed INT 16 816 rw 52 Segment 16 speed INT 16 832 rw DT2104 960 0 Number of Entries USINT 8 0 ro 1 Normal DI filter selection UINT 16 16 rw 2 DI1 terminal function selection UINT 16 32 rw 3 DI2 terminal function selection UINT 16 48 rw 4 DI3 terminal function selection UINT 16 64 rw 5 DI4 terminal function selection UINT 16 80 rw 6 DI5 terminal function selection UINT 16 96 rw 7 DI6 terminal function selection UINT 16 112 rw 8 DI7 terminal function selection UINT 16 128 rw 9 DI8 terminal function selection UINT 16 144 rw 10 DI9 terminal function selection UINT 16 160 rw 12 DI1 terminal logic selection UINT 16 192 rw 13 DI2 terminal logic selection UINT 16 208 rw 14 DI3 terminal logic selection UINT 16 224 rw 15 DI4 terminal logic selection UINT 16 240 rw 16 DI5 terminal logic selection UINT 16 256 rw 17 DI6 terminal logic selection UINT 16 272 rw 18 DI7 terminal logic selection UINT 16 288 rw 19 DI8 terminal logic selection UINT 16 304 rw 20 DI9 terminal logic selection UINT 16 320 rw 22 DO1 terminal function selection UINT 16 352 rw 23 DO2 terminal function selection UINT 16 368 rw 24 DO3 terminal function selection UINT 16 384 rw 25 DO4 terminal function selection UINT 16 400 rw 26 DO5 terminal function selection UINT 16 416 rw 27 DO6 terminal function selection UINT 16 432 rw 28 DO7 terminal function selection UINT 16 448 rw 29 DO8 terminal function selection UINT 16 464 rw 30 DO9 terminal function selection UINT 16 480 rw 32 DO1 terminal logic selection UINT 16 512 rw 33 DO2 terminal logic selection UINT 16 528 rw 34 DO3 terminal logic selection UINT 16 544 rw 35 DO4 terminal logic selection UINT 16 560 rw 36 DO5 terminal logic selection UINT 16 576 rw 37 DO6 terminal logic selection UINT 16 592 rw 38 DO7 terminal logic selection UINT 16 608 rw 39 DO8 terminal logic selection UINT 16 624 rw 40 DO9 terminal logic selection UINT 16 640 rw 42 FUNINL signal unassigned state(Hex) UINT 16 672 rw 43 FUNINH signal unassigned state(Hex) UINT 16 688 rw 44 Motor rotational signal (TGON) threshold UINT 16 704 rw 45 Speed conformity signal (V_CMP)width UINT 16 720 rw 46 Speed reached signal (V_ARR)width UINT 16 736 rw 48 Positioning completion (COIN) threshold UINT 16 768 rw 49 Positioning completion output setting UINT 16 784 rw 50 Positioning completion holding time UINT 16 800 rw 51 Positioning near (NEAR) threshold UINT 16 816 rw 52 Servo OFF delay time after holding brake taking action when speed is 0 UINT 16 832 rw 53 Speed setting for holding brake to take action in motion UINT 16 848 rw 54 Waiting time for holding brake to take action in motion UINT 16 864 rw 55 Special output function setting UINT 16 880 rw 56 Torque reached (T_ARR) threshold UINT 16 896 rw 57 Torque reached signal width UINT 16 912 rw 58 Z Pulse Width Adjust UINT 16 928 rw 59 Zero speed out limit UINT 16 944 rw DT2105 576 0 Number of Entries USINT 8 0 ro 1 AI1 minimum input INT 16 16 rw 2 Corresponding value of AI1 minimum input INT 16 32 rw 3 AI1 maximum input INT 16 48 rw 4 Corresponding value of AI1 maximum input INT 16 64 rw 5 AI1 zero offset INT 16 80 rw 6 AI1 dead-zone setting UINT 16 96 rw 7 AI1 input filtering time UINT 16 112 rw 8 AI2 minimum input INT 16 128 rw 9 Corresponding value of AI2 minimum input INT 16 144 rw 10 AI2 maximum input INT 16 160 rw 11 Corresponding value of AI2 maximum input INT 16 176 rw 12 AI2 zero offset INT 16 192 rw 13 AI2 dead-zone setting UINT 16 208 rw 14 AI2 input filtering time UINT 16 224 rw 15 AI setting 100% speed UINT 16 240 rw 16 AI setting 100% torque UINT 16 256 rw 17 AI1 function selection UINT 16 272 rw 18 AI2 function selection UINT 16 288 rw 29 AO1 signal selection (need optional card) UINT 16 464 rw 30 AO1 voltage offset INT 16 480 rw 31 AO1 multiplier INT 16 496 rw 32 AO2 signal selection (need optional card) UINT 16 512 rw 33 AO2 voltage offset INT 16 528 rw 34 AO2 multiplier INT 16 544 rw 35 AO monitor type UINT 16 560 rw DT2106 800 0 Number of Entries USINT 8 0 ro 1 Electronic gear numerator 2(32-bit) UDINT 32 16 rw 3 Electronic gear numerator 3(32-bit) UDINT 32 48 rw 5 Electronic gear numerator 4(32-bit) UDINT 32 80 rw 7 Position deviation clearance function UINT 16 112 rw 10 Electronic gear ratio switchover delay UINT 16 160 rw 11 Potential energy load torque compensation INT 16 176 rw 12 P06.10 memory selections UINT 16 192 rw 13 Forward friction torque compensation INT 16 208 rw 14 Reverse friction torque compensation INT 16 224 rw 15 Viscous friction compensation INT 16 240 rw 16 Friction compensation time constant UINT 16 256 rw 17 Low speed range of friction compensation UINT 16 272 rw 19 Type 1 fault shutdown mode selection UINT 16 304 rw 20 Parameter identification rate UINT 16 320 rw 21 Parameter identification acceleration time UINT 16 336 rw 22 Parameter identification deceleration time UINT 16 352 rw 23 Parameter identification mode selection UINT 16 368 rw 24 Initial angle identification current limit UINT 16 384 rw 25 Instantaneous power failure protection UINT 16 400 rw 26 Instantaneous power failure deceleration time UINT 16 416 rw 27 Servo OFF stop mode selection UINT 16 432 rw 28 Second category fault stop mode selection UINT 16 448 rw 29 Over-travel input setting UINT 16 464 rw 30 Over-travel stop mode selection UINT 16 480 rw 31 Input power phase loss protection UINT 16 496 rw 32 Output power phase loss protection UINT 16 512 rw 33 Emergency stop torque UINT 16 528 rw 34 Tripping protection function UINT 16 544 rw 35 Overload warning value UINT 16 560 rw 36 Motor overload protection coefficient UINT 16 576 rw 37 Undervoltage protection point UINT 16 592 rw 38 Over-speed error point UINT 16 608 rw 39 Maximum input pulse frequency UINT 16 624 rw 40 Short circuit to ground detection protection selection UINT 16 640 rw 41 Encoder interference detection delay UINT 16 656 rw 42 Input pulse filtering setting UINT 16 672 rw 43 Input pulseinhibition setting UINT 16 688 rw 44 Deviation clearance input setting UINT 16 704 rw 45 High speed DI filtering setting UINT 16 720 rw 46 Speed deviation too large threshold UINT 16 736 rw 47 Torque saturation overtime setting UINT 16 752 rw 48 Absolute system setting UINT 16 768 rw 49 Encoder battery undervoltage threshold UINT 16 784 rw DT2107 480 0 Number of Entries USINT 8 0 ro 1 Panel display option UINT 16 16 rw 2 Panel monitor parameter setting1 UINT 16 32 rw 3 Panel monitor parameter setting2 UINT 16 48 rw 4 Panel monitor parameter setting3 UINT 16 64 rw 5 Panel monitor parameter setting4 UINT 16 80 rw 6 Panel monitor parameter setting5 UINT 16 96 rw 9 Function option1 UINT 16 144 rw 10 Function option2 UINT 16 160 rw 11 User password UINT 16 176 rw 12 Power off storage UINT 16 192 rw 13 User password effect time UINT 16 208 rw 14 Reserved parameter UINT 16 224 rw 15 Quick stop time UINT 16 240 rw 16 Reserved Parameter UINT 16 256 rw 17 Function option3 UINT 16 272 rw 18 Maximum copies of one revolation UINT 16 288 rw 20 Function option5 UINT 16 320 rw 21 Function option6 UINT 16 336 rw 22 Function option7 UINT 16 352 rw 23 Function option8 UINT 16 368 rw 24 Fault reset condition UINT 16 384 rw 25 Positive software limit（32-bit） DINT 32 400 rw 27 Negative software limit（32-bit） DINT 32 432 rw 29 Home signal hold time UINT 16 464 rw DT2108 1616 0 Number of Entries USINT 8 0 ro 1 Internal position execution pattern selection UINT 16 16 rw 2 Starting stage number UINT 16 32 rw 3 Ending stage number UINT 16 48 rw 4 Restartingpattern of residual stags after pausing UINT 16 64 rw 5 Position instruction type selection UINT 16 80 rw 6 Unit for waiting time UINT 16 96 rw 7 Internal position control 1st stage length (32-bit) DINT 32 112 rw 9 Internal position control 1st stage max speed UINT 16 144 rw 10 Internal position control 1st stageacceleration/deceleration time UINT 16 160 rw 11 Waiting time after internal position control 1st stage completed UINT 16 176 rw 12 Internal position control 2nd stage length (32-bit) DINT 32 192 rw 14 Internal position control 2nd stage max speed UINT 16 224 rw 15 Internal position control 2nd stageacceleration/deceleration time UINT 16 240 rw 16 Waiting time after internal position control 2nd stage completed UINT 16 256 rw 17 Internal position control 3rd stage length (32-bit) DINT 32 272 rw 19 Internal position control 3rd stage max speed UINT 16 304 rw 20 Internal position control 3rd stageacceleration/deceleration time UINT 16 320 rw 21 Waiting time after internal position control 3rd stage completed UINT 16 336 rw 22 Internal position control 4th stage length (32-bit) DINT 32 352 rw 24 Internal position control 4th stage max speed UINT 16 384 rw 25 Internal position control 4thstageacceleration/deceleration time UINT 16 400 rw 26 Waiting time after internal position control 4thstage completed UINT 16 416 rw 27 Internal position control 5thstage length (32-bit) DINT 32 432 rw 29 Internal position control 5thstage max speed UINT 16 464 rw 30 Internal position control 5thstageacceleration/deceleration time UINT 16 480 rw 31 Waiting time after internal position control 5thstage completed UINT 16 496 rw 32 Internal position control 6thstage length (32-bit) DINT 32 512 rw 34 Internal position control 6thstage max speed UINT 16 544 rw 35 Internal position control 6thstageacceleration/deceleration time UINT 16 560 rw 36 Waiting time after internal position control 6thstage completed UINT 16 576 rw 37 Internal position control 7thstage length (32-bit) DINT 32 592 rw 39 Internal position control 7thstage max speed UINT 16 624 rw 40 Internal position control 7thstageacceleration/deceleration time UINT 16 640 rw 41 Waiting time after internal position control 7thstage completed UINT 16 656 rw 42 Internal position control 8thstage length (32-bit) DINT 32 672 rw 44 Internal position control 8thstage max speed UINT 16 704 rw 45 Internal position control 8thstageacceleration/deceleration time UINT 16 720 rw 46 Waiting time after internal position control 8thstage completed UINT 16 736 rw 47 Internal position control 9thstage length (32-bit) DINT 32 752 rw 49 Internal position control 9th stage max speed UINT 16 784 rw 50 Internal position control 9th stageacceleration/deceleration time UINT 16 800 rw 51 Waiting time after internal position control 9th stage completed UINT 16 816 rw 52 Internal position control 10th stage length (32-bit) DINT 32 832 rw 54 Internal position control 10th stage max speed UINT 16 864 rw 55 Internal position control 10th stageacceleration/deceleration time UINT 16 880 rw 56 Waiting time after internal position control 10th stage completed UINT 16 896 rw 57 Internal position control 11th stage length (32-bit) DINT 32 912 rw 59 Internal position control 11th stage max speed UINT 16 944 rw 60 Internal position control 11th stageacceleration/deceleration time UINT 16 960 rw 61 Waiting time after internal position control 11th stage completed UINT 16 976 rw 62 Internal position control 12th stage length (32-bit) DINT 32 992 rw 64 Internal position control 12th stage max speed UINT 16 1024 rw 65 Internal position control 12th stageacceleration/deceleration time UINT 16 1040 rw 66 Waiting time after internal position control 12th stage completed UINT 16 1056 rw 67 Internal position control 13th stage length (32-bit) DINT 32 1072 rw 69 Internal position control 13th stage max speed UINT 16 1104 rw 70 Internal position control 13th stageacceleration/deceleration time UINT 16 1120 rw 71 Waiting time after internal position control 13th stage completed UINT 16 1136 rw 72 Internal position control 14th stage length (32-bit) DINT 32 1152 rw 74 Internal position control 14th stage max speed UINT 16 1184 rw 75 Internal position control 14th stageacceleration/deceleration time UINT 16 1200 rw 76 Waiting time after internal position control 14th stage completed UINT 16 1216 rw 77 Internal position control 15th stage length (32-bit) DINT 32 1232 rw 79 Internal position control 15th stage max speed UINT 16 1264 rw 80 Internal position control 15th stageacceleration/deceleration time UINT 16 1280 rw 81 Waiting time after internal position control 15th stage completed UINT 16 1296 rw 82 Internal position control 16th stage length (32-bit) DINT 32 1312 rw 84 Internal position control 16th stage max speed UINT 16 1344 rw 85 Internal position control 16th stageacceleration/deceleration time UINT 16 1360 rw 86 Waiting time after internal position control 16th stage completed UINT 16 1376 rw 87 Interrupt positioning setting UINT 16 1392 rw 89 Homing start modes UINT 16 1424 rw 90 Homing modes UINT 16 1440 rw 91 Limit switch and Z-phase signal setting at homing UINT 16 1456 rw 93 Origin search high speed UINT 16 1488 rw 94 Origin search low speed UINT 16 1504 rw 95 Acceleration/deceleration time at origin search UINT 16 1520 rw 96 Homing time limit UINT 16 1536 rw 97 Origin point coordinate offset (32-bit) DINT 32 1552 rw 99 Mechanical origin point offset(32-bit) DINT 32 1584 rw DT2109 320 0 Number of Entries USINT 8 0 ro 1 Modbus axis address UINT 16 16 rw 2 Modbus baud rate UINT 16 32 rw 3 Modbus data format UINT 16 48 rw 4 Communication overtime UINT 16 64 rw 5 Communication response delay UINT 16 80 rw 6 Communication DI enabling setting 1 UINT 16 96 rw 7 Communication DI enabling setting 2 UINT 16 112 rw 8 Communication DI enabling setting 3 UINT 16 128 rw 9 Communication DI enabling setting 4 UINT 16 144 rw 10 Communication DO enabling setting 1 UINT 16 160 rw 11 Communication DO enabling setting 2 UINT 16 176 rw 12 Communication instruction holding time UINT 16 192 rw 13 AO Function or canopen select UINT 16 208 rw 14 Can config parameter1 UINT 16 224 rw 15 Can config parameter2 UINT 16 240 rw 16 Can config parameter3 UINT 16 256 rw 17 EtherCat link error dectect times UINT 16 272 rw 18 EtherCAT protect param UINT 16 288 rw 19 EtherCAT alias addr UINT 16 304 rw DT2113 416 0 Number of Entries USINT 8 0 ro 1 DriverPassWord UINT 16 16 rw 2 Driver model code UINT 16 32 rw DT2114 224 0 Number of Entries USINT 8 0 ro 1 Keyboard JOG UINT 16 16 rw 2 Fault reset UINT 16 32 rw 3 communication write parameter save enable UINT 16 48 rw 4 Parameter identification UINT 16 64 rw 6 Analog input automatic calibration UINT 16 96 rw 7 System initialization UINT 16 112 rw 9 reserved UINT 16 144 rw 10 Communication status output UINT 16 160 ro 12 Communication selects multiple segments No. UINT 16 192 rw 13 Communication origin search UINT 16 208 rw DT2115 976 0 Number of Entries USINT 8 0 ro 1 Servo status UINT 16 16 ro 2 Motor speed feedback INT 16 32 ro 4 Speed instruction INT 16 64 ro 5 Internal torque instruction (relative to rated torque) INT 16 80 ro 6 Phase current effective value UINT 16 96 ro 7 DC bus voltage UINT 16 112 ro 8 Absolute position counter (32-bit) DINT 32 128 ro 10 Electrical angle UINT 16 160 ro 11 Mechanical angle (relative to encoder zero point) UINT 16 176 ro 12 Load inertia identification value UINT 16 192 ro 13 Speed value relative to input instruction INT 16 208 ro 14 Position deviation counter (32-bit) DINT 32 224 ro 16 Input pulse counter (32-bit) DINT 32 256 ro 18 Feedback pulse counter (32-bit) DINT 32 288 ro 20 Position instruction deviation counter unit (32-bit) DINT 32 320 ro 22 Digital input signal monitoring UINT 16 352 ro 24 Digital output signal monitoring UINT 16 384 ro 26 Total power-on time(32 bit) DINT 32 416 ro 28 AI1 voltage after adjustment INT 16 448 ro 29 AI2 voltage after adjustment INT 16 464 ro 30 AI1 voltage before adjustment INT 16 480 ro 31 AI2 voltage before adjustment INT 16 496 ro 32 Module temperature UINT 16 512 ro 33 Number of turns of absolute encoder (32-bit) DINT 32 528 ro 35 Single turn position of absolute encoder (32-bit) DINT 32 560 ro 37 Version code 1 UINT 16 592 ro 38 Version code 2 UINT 16 608 ro 39 Version code 3 UINT 16 624 ro 40 Product series code UINT 16 640 ro 41 Fault record display UINT 16 656 rw 42 Fault code UINT 16 672 ro 43 Time stamp upon selected fault (32-bit) UDINT 32 688 ro 45 Motor speed upon selected fault INT 16 720 ro 46 U-phase current upon selected fault UINT 16 736 ro 48 DC bus voltage upon selected fault UINT 16 768 ro 49 Input terminal status upon selected fault UINT 16 784 ro 50 Output terminal status upon selected fault UINT 16 800 ro 51 Customized software version UINT 16 816 ro 52 Accumulative load ratio UINT 16 832 ro 53 Regenerative load ratio UINT 16 848 ro 54 Internal warning code UINT 16 864 ro 55 Internal instruction present stage code UINT 16 880 ro 56 Customized product serial code UINT 16 896 ro 57 High 32 place value of absolute position counter INT 16 912 ro 59 High 32 place value of feedback pulse counter (32-bit) DINT 32 944 ro DT2120 128 0 Number of Entries USINT 8 0 ro 1 Virtual DI Function value 1 UINT 16 16 rw R 2 Virtual DI Function value 2 UINT 16 32 rw R 3 Virtual DI Function value 3 UINT 16 64 rw R 4 Virtual DI Function value 4 UINT 16 80 rw R 5 DO status1 UINT 16 96 ro T 6 DO status2 UINT 16 112 ro T DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw R 2 Max position limit DINT 32 48 rw R DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro T 2 Motor revolutions UDINT 32 48 ro T DT6091 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw R 2 Denominator UDINT 32 48 rw R DT6092 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw R 2 Denominator UDINT 32 48 rw R DT6093 80 0 Number of Entries USINT 8 0 ro 1 Position factor Numerator UDINT 32 16 rw R 2 Position factor Feed constant UDINT 32 48 rw R DT6094 80 0 Number of Entries USINT 8 0 ro 1 Velocity encoder factor Numerator UDINT 32 16 rw R 2 Velocity encoder factor Divisor UDINT 32 48 rw R DT6095 80 0 Number of Entries USINT 8 0 ro 1 Velocity factor1 Numerator UDINT 32 16 rw R 2 Velocity factor1 Divisor UDINT 32 48 rw R DT6097 80 0 Number of Entries USINT 8 0 ro 1 Acceleration factor:Numerator UDINT 32 16 rw R 2 Acceleration factor:Divisor UDINT 32 48 rw R DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw R 2 Speed during search for zero UDINT 32 48 rw R DT60C1 48 0 Number of Entries USINT 8 0 ro 1 Interpolation data record:x1 UDINT 32 16 rw R DT60C2 32 0 Number of Entries USINT 8 0 ro 1 ip time units USINT 8 16 rw R 2 ip time index SINT 8 24 rw R DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw R 2 Bitmask UDINT 32 48 rw R #x1000 Device type UDINT 32 00020192 ro m #x1001 Error register USINT 8 00 ro o #x1008 Device name STRING(20) 160 X3E-ECAT ro o #x1009 Hardware version STRING(3) 24 1.0 ro o #x100a Software version STRING(4) 32 1.64 ro o #x1010 Store Parameters DT1010 48 Number of Entries 01 Store Parameters 00000000 rw o #x1c00 Sync manager type DT1C00 48 Number of Entries 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1018 Identity DT1018 144 Number of Entries 04 Vendor ID 0000116c Product code 00000402 Revision 01 Serial number 01 ro o #x10F1 Error Settings DT10F1 64 Number of Entries 02 Local Error Reaction 01 Sync Error Counter Limit 04 ro o #x1c32 SM output parameter DT1C32 488 Number of Entries 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 Number of Entries 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1600 1st RxPDO-Mapping DT1600 656 Number of Entries 4 Mapping Entry 1 10004060 Mapping Entry 2 08006060 Mapping Entry 3 20007A60 Mapping Entry 4 1000B860 rw o #x1601 2nd RxPDO-Mapping DT1600 656 Number of Entries 7 Mapping Entry 1 10004060 Mapping Entry 2 08006060 Mapping Entry 3 10007160 Mapping Entry 4 20007A60 Mapping Entry 5 20008060 Mapping Entry 6 2000FF60 rw o #x1602 3rd RxPDO-Mapping DT1600 656 Number of Entries 6 Mapping Entry 1 10004060 Mapping Entry 2 08006060 Mapping Entry 3 10007260 Mapping Entry 4 20007A60 Mapping Entry 5 1000B860 Mapping Entry 6 2000FF60 rw o #x1603 4th RxPDO-Mapping DT1600 656 Number of Entries 8 Mapping Entry 1 10004060 Mapping Entry 2 08006060 Mapping Entry 3 10007160 Mapping Entry 4 10007260 Mapping Entry 5 20007A60 Mapping Entry 6 20008060 Mapping Entry 7 1000B860 Mapping Entry 8 2000FF60 rw o #x1604 5th RxPDO-Mapping DT160x 184 Number of Entries 9 Mapping Entry 1 10004060 Mapping Entry 2 20007A60 Mapping Entry 3 2000FF60 Mapping Entry 4 10007160 Mapping Entry 4 08006060 Mapping Entry 4 1000B860 Mapping Entry 4 1000E060 Mapping Entry 4 1000E160 Mapping Entry 4 20007F60 ro o #x1a00 1st TxPDO-Mapping DT1A00 656 Number of Entries 9 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 20006460 Mapping Entry 4 08006160 Mapping Entry 5 1000B960 Mapping Entry 6 2000BA60 Mapping Entry 7 2000F460 Mapping Entry 8 2000FD60 Mapping Entry 9 10003F21 rw o #x1a01 2nd TxPDO-Mapping DT1A00 656 Number of Entries 10 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 10007760 Mapping Entry 7 1000B960 Mapping Entry 8 2000BA60 Mapping Entry 9 2000BB60 Mapping Entry 10 2000FD60 rw o #x1a02 3rd TxPDO-Mapping DT1A00 656 Number of Entries 9 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 10007760 Mapping Entry 7 1000B960 Mapping Entry 8 2000BA60 Mapping Entry 9 2000FD60 rw o #x1a03 4th TxPDO-Mapping DT1A00 656 Number of Entries 9 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 10007760 Mapping Entry 7 1000B960 Mapping Entry 8 2000BA60 Mapping Entry 9 2000FD60 rw o #x1a04 5th TxPDO-Mapping DT1A0x 264 Number of Entries 11 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 20006460 Mapping Entry 4 10007160 Mapping Entry 5 08006160 Mapping Entry 6 2000F460 Mapping Entry 7 1000B960 Mapping Entry 7 2000BA60 Mapping Entry 7 2000BC60 Mapping Entry 7 20006C60 Mapping Entry 7 2000FD60 ro o #x1c12 RxPDO assign DT1C12 32 Number of Entries 02 SubIndex 001 0116 rw o #x1c13 TxPDO assign DT1C13 32 Number of Entries 02 SubIndex 001 001a rw o #x2100 Basic Parameters DT2100 528 Number of Entries 31 Motor positive direction definition 0 Control mode selection 0 Real time auto-tuning 1 Stiffness grade setting 12 Load inertia ratio 100 Position instruction source 0 Pulse train form 0 Instruction units per motor one revolution (32-bit) 10000 Electronic gear numerator 1(32-bit) 0 Electronic gear denominator (32-bit) 10000 Pulse outputcounts per motor one revolution (32-bit) 2500 Pulse output positive direction definition 0 Pulse output OUT_Z polarity 0 Pulse output function selection 0 Position deviation too large threshold(32-bit) 1000000 Regenerative resistor setting 1 External regenerative resistor capacity 100 External regenerative resistor resistance value 100 External regenerative resistor heating time constant 2000 Regenerative voltage threshold 360 Step value setting 50 High pulse type 0 Moudlo mode absoulate low 32 bit 0 Moudlo mode absoulate high 32 bit 0 ro o #x2101 Gain Tuning Parameters DT2101 576 Number of Entries 35 Position loop gain 1 400 Speed loop gain 1 200 Speed loop integral time 1 3000 Speed detection filter 1 0 Torque instruction filter 1 100 Position loop gain 2 400 Speed loop gain 2 200 Speed loop integral time 2 3000 Speed detection filter 2 0 Torque instruction filter 2 100 Speed regulator PDFF coefficient 1000 Speed feedforward control selection 0 Speed feedforward gain 300 Speed feedforward filtering time 50 Torque feedforward control selection 0 Torque feedforward gain 0 Torque feedforward filtering time 0 Digital input GAIN_SEL function selection 0 Position control gain switchover mode 0 Position control gain switchover delay 50 Position control gain switchover class 50 Position control gain switchover hysteresis 33 Position control gain switchover time 33 Speed control gain switchover mode 0 Speed control gain switchover delay 0 Speed control gain switchover class 0 Speed control gain switchover hysteresis 0 Torque control gain switchover mode 0 Torque control gain switchover delay 0 Torque control gain switchover class 0 Torque control gain switchover hysteresis 0 Observer enable 0 Observer cut-off frequency 100 Observer phase compensate time 0 Observer Inertia coefficient 1000 ro o #x2102 Vibration Suppression Parameters DT2102 608 Number of Entries 37 Position instruction smoothing filter 0 Position instruction FIR filter 0 Adaptive filtering mode 0 Adaptive filter load mode 0 First notch filter frequency (manual) 5000 First notch filter width 2 First notch filter depth 0 Second notch filter frequency (manual) 5000 Second notch filter width 2 Second notch filter depth 0 Third notch filter frequency 5000 Third notch filter width 2 Third notch filter depth 0 Fourth notch filter frequency 5000 Fourth notch filter width 2 Fourth notch filter depth 0 Position instruction FIR filter 2 0 First vibration attenuation frequency 0 First vibration attenuation filter setting 0 Second vibration attenuation frequency 0 Second vibration attenuation filter setting 0 Resonance point 1 frequency 5000 Resonance point 1 bandwidth 2 Resonance point 1 amplitude 0 Resonance point 2 frequency 5000 Resonance point 2 bandwidth 2 Resonance point 2 amplitude 0 ro o #x2103 Speed and Torque Control Parameters DT2103 848 Number of Entries 52 Speed instruction source selection 0 Speed instructiondigital setting 200 JOG speed setting 200 Torque limit source 0 Internal forward torque limit 3000 Internal reverse torque limit 3000 External forward torque limit 3000 External reverse torque limit 3000 Acceleration time 1 10 Deceleration time 1 10 Acceleration time 2 10 Deceleration time 2 10 Zero-speed clamp function 0 Zero-speed clamp threshold value 10 Torque instruction source 0 Torque instructiondigital setting value 0 Speed limit source in torque control 0 Internal positive speed limit 3000 Internal negative speed limit 3000 Hard stop torque limit 3000 Hard limit torque limit detection time 3000 Internal speed instruction segment numberselection mode 0 Acceleration time selection for internal speed segment 1-8 0 Deceleration time selection for internal speed segment 1-8 0 Acceleration time selection for internal speed segment 9-16 0 Deceleration time selection for internal speed segment 9-16 0 Segment 1 speed 0 Segment 2 speed 0 Segment 3 speed 0 Segment 4 speed 0 Segment 5 speed 0 Segment 6 speed 0 Segment 7 speed 0 Segment 8 speed 0 Segment 9 speed 0 Segment 10 speed 0 Segment 11 speed 0 Segment 12 speed 0 Segment 13 speed 0 Segment 14 speed 0 Segment 15 speed 0 Segment 16 speed 0 ro o #x2104 Digital Input/output Parameters DT2104 960 Number of Entries 59 Normal DI filter selection 500 DI1 terminal function selection 1 DI2 terminal function selection 2 DI3 terminal function selection 13 DI4 terminal function selection 5 DI5 terminal function selection 25 DI6 terminal function selection 14 DI7 terminal function selection 15 DI8 terminal function selection 0 DI9 terminal function selection 0 DI1 terminal logic selection 0 DI2 terminal logic selection 0 DI3 terminal logic selection 0 DI4 terminal logic selection 0 DI5 terminal logic selection 0 DI6 terminal logic selection 1 DI7 terminal logic selection 1 DI8 terminal logic selection 0 DI9 terminal logic selection 0 DO1 terminal function selection 11 DO2 terminal function selection 4 DO3 terminal function selection 7 DO4 terminal function selection 5 DO5 terminal function selection 9 DO6 terminal function selection 6 DO7 terminal function selection 1 DO8 terminal function selection 2 DO9 terminal function selection 0 DO1 terminal logic selection 0 DO2 terminal logic selection 0 DO3 terminal logic selection 0 DO4 terminal logic selection 0 DO5 terminal logic selection 0 DO6 terminal logic selection 0 DO7 terminal logic selection 0 DO8 terminal logic selection 1 DO9 terminal logic selection 0 FUNINL signal unassigned state(Hex) 0 FUNINH signal unassigned state(Hex) 0 Motor rotational signal (TGON) threshold 20 Speed conformity signal (V_CMP)width 50 Speed reached signal (V_ARR)width 100 Positioning completion (COIN) threshold 100 Positioning completion output setting 0 Positioning completion holding time 1 Positioning near (NEAR) threshold 65535 Servo OFF delay time after holding brake taking action when speed is 0 10 Speed setting for holding brake to take action in motion 100 Waiting time for holding brake to take action in motion 10 Special output function setting 0 Torque reached (T_ARR) threshold 1000 Torque reached signal width 200 Z Pulse Width Adjust 0 Zero speed out limit 60 ro o #x2105 Analog Input/output Parameters DT2105 576 Number of Entries 35 AI1 minimum input -1000 Corresponding value of AI1 minimum input -1000 AI1 maximum input 1000 Corresponding value of AI1 maximum input 1000 AI1 zero offset 0 AI1 dead-zone setting 0 AI1 input filtering time 20 AI2 minimum input -1000 Corresponding value of AI2 minimum input -1000 AI2 maximum input 1000 Corresponding value of AI2 maximum input 1000 AI2 zero offset 0 AI2 dead-zone setting 0 AI2 input filtering time 20 AI setting 100% speed 3000 AI setting 100% torque 100 AI1 function selection 0 AI2 function selection 3 AO1 signal selection (need optional card) 0 AO1 voltage offset 0 AO1 multiplier 100 AO2 signal selection (need optional card) 0 AO2 voltage offset 0 AO2 multiplier 100 AO monitor type 0 ro o #x2106 Expansion Parameters DT2106 800 Number of Entries 49 Electronic gear numerator 2(32-bit) 0 Electronic gear numerator 3(32-bit) 0 Electronic gear numerator 4(32-bit) 0 Position deviation clearance function 0 Electronic gear ratio switchover delay 0 Potential energy load torque compensation 0 P06.10 memory selections 2 Forward friction torque compensation 0 Reverse friction torque compensation 0 Viscous friction compensation 0 Friction compensation time constant 0 Low speed range of friction compensation 1 Type 1 fault shutdown mode selection 0 Parameter identification rate 500 Parameter identification acceleration time 100 Parameter identification deceleration time 100 Parameter identification mode selection 0 Initial angle identification current limit 500 Instantaneous power failure protection 0 Instantaneous power failure deceleration time 20 Servo OFF stop mode selection 0 Second category fault stop mode selection 0 Over-travel input setting 1 Over-travel stop mode selection 0 Input power phase loss protection 0 Output power phase loss protection 0 Emergency stop torque 1000 Tripping protection function 0 Overload warning value 100 Motor overload protection coefficient 100 Undervoltage protection point 100 Over-speed error point 120 Maximum input pulse frequency 500 Short circuit to ground detection protection selection 1 Encoder interference detection delay 0 Input pulse filtering setting 40 Input pulseinhibition setting 0 Deviation clearance input setting 0 High speed DI filtering setting 50 Speed deviation too large threshold 0 Torque saturation overtime setting 0 Absolute system setting 0 Encoder battery undervoltage threshold 30 ro o #x2107 Auxiliary function Parameters DT2107 480 Number of Entries 29 Panel display option 0 Panel monitor parameter setting1 1 Panel monitor parameter setting2 5 Panel monitor parameter setting3 6 Panel monitor parameter setting4 21 Panel monitor parameter setting5 23 Function option1 0 Function option2 0 User password 0 Power off storage 0 User password effect time 5 Reserved parameter 5 Quick stop time 5 Reserved Parameter 8192 Function option3 0 Maximum copies of one revolation 0 Function option5 0 Function option6 0 Function option7 0 Function option8 0 Fault reset condition 0 Positive software limit（32-bit） 2147483647 Negative software limit（32-bit） -2147483648 Home signal hold time 2000 ro o #x2108 Internal Position Control DT2108 1616 Number of Entries 100 Internal position execution pattern selection 0 Starting stage number 1 Ending stage number 2 Restartingpattern of residual stags after pausing 1 Position instruction type selection 0 Unit for waiting time 0 Internal position control 1st stage length (32-bit) 10000 Internal position control 1st stage max speed 200 Internal position control 1st stageacceleration/deceleration time 10 Waiting time after internal position control 1st stage completed 0 Internal position control 2nd stage length (32-bit) 10000 Internal position control 2nd stage max speed 200 Internal position control 2nd stageacceleration/deceleration time 10 Waiting time after internal position control 2nd stage completed 0 Internal position control 3rd stage length (32-bit) 10000 Internal position control 3rd stage max speed 200 Internal position control 3rd stageacceleration/deceleration time 10 Waiting time after internal position control 3rd stage completed 0 Internal position control 4th stage length (32-bit) 10000 Internal position control 4th stage max speed 200 Internal position control 4thstageacceleration/deceleration time 10 Waiting time after internal position control 4thstage completed 0 Internal position control 5thstage length (32-bit) 10000 Internal position control 5thstage max speed 200 Internal position control 5thstageacceleration/deceleration time 10 Waiting time after internal position control 5thstage completed 0 Internal position control 6thstage length (32-bit) 10000 Internal position control 6thstage max speed 200 Internal position control 6thstageacceleration/deceleration time 10 Waiting time after internal position control 6thstage completed 0 Internal position control 7thstage length (32-bit) 10000 Internal position control 7thstage max speed 200 Internal position control 7thstageacceleration/deceleration time 10 Waiting time after internal position control 7thstage completed 0 Internal position control 8thstage length (32-bit) 10000 Internal position control 8thstage max speed 200 Internal position control 8thstageacceleration/deceleration time 10 Waiting time after internal position control 8thstage completed 0 Internal position control 9thstage length (32-bit) 10000 Internal position control 9th stage max speed 200 Internal position control 9th stageacceleration/deceleration time 10 Waiting time after internal position control 9th stage completed 0 Internal position control 10th stage length (32-bit) 10000 Internal position control 10th stage max speed 200 Internal position control 10th stageacceleration/deceleration time 10 Waiting time after internal position control 10th stage completed 0 Internal position control 11th stage length (32-bit) 10000 Internal position control 11th stage max speed 200 Internal position control 11th stageacceleration/deceleration time 10 Waiting time after internal position control 11th stage completed 0 Internal position control 12th stage length (32-bit) 10000 Internal position control 12th stage max speed 200 Internal position control 12th stageacceleration/deceleration time 10 Waiting time after internal position control 12th stage completed 0 Internal position control 13th stage length (32-bit) 10000 Internal position control 13th stage max speed 200 Internal position control 13th stageacceleration/deceleration time 10 Waiting time after internal position control 13th stage completed 0 Internal position control 14th stage length (32-bit) 10000 Internal position control 14th stage max speed 200 Internal position control 14th stageacceleration/deceleration time 10 Waiting time after internal position control 14th stage completed 0 Internal position control 15th stage length (32-bit) 10000 Internal position control 15th stage max speed 200 Internal position control 15th stageacceleration/deceleration time 10 Waiting time after internal position control 15th stage completed 0 Internal position control 16th stage length (32-bit) 10000 Internal position control 16th stage max speed 200 Internal position control 16th stageacceleration/deceleration time 10 Waiting time after internal position control 16th stage completed 0 Interrupt positioning setting 0 Homing start modes 0 Homing modes 2 Limit switch and Z-phase signal setting at homing 2 Origin search high speed 500 Origin search low speed 50 Acceleration/deceleration time at origin search 500 Homing time limit 30000 Origin point coordinate offset (32-bit) 0 Mechanical origin point offset(32-bit) 0 ro o #x2109 Communication Setting Parameters DT2109 320 Number of Entries 19 Modbus axis address 1 Modbus baud rate 2 Modbus data format 0 Communication overtime 0 Communication response delay 0 Communication DI enabling setting 1 0 Communication DI enabling setting 2 0 Communication DI enabling setting 3 0 Communication DI enabling setting 4 0 Communication DO enabling setting 1 0 Communication DO enabling setting 2 0 Communication instruction holding time 5 AO Function or canopen select 0 Can config parameter1 0 Can config parameter2 0 Can config parameter3 0 EtherCat link error dectect times 0 EtherCAT protect param 0 EtherCAT alias addr 0 ro o #x2113 Servo driver parameters DT2113 416 Number of Entries 47 DriverPassWord 0 Driver model code 0 #x2114 keyboard and communication parameter DT2114 224 Number of Entries 13 Keyboard JOG 0 Fault reset 0 communication write parameter save enable 0 Parameter identification 0 Analog input automatic calibration 0 System initialization 0 reserved 0 Communication status output 0 Communication selects multiple segments No. 0 Communication origin search 0 ro o #x2115 Group Monitoring Parameters DT2115 976 Number of Entries 60 Servo status 0 Motor speed feedback 0 Speed instruction 0 Internal torque instruction (relative to rated torque) 0 Phase current effective value 0 DC bus voltage 0 Absolute position counter (32-bit) 0 Electrical angle 0 Mechanical angle (relative to encoder zero point) 0 Load inertia identification value 0 Speed value relative to input instruction 0 Position deviation counter (32-bit) 0 Input pulse counter (32-bit) 0 Feedback pulse counter (32-bit) 0 Position instruction deviation counter unit (32-bit) 0 Digital input signal monitoring 0 Digital output signal monitoring 0 Total power-on time(32 bit) 0 AI1 voltage after adjustment 0 AI2 voltage after adjustment 0 AI1 voltage before adjustment 0 AI2 voltage before adjustment 0 Module temperature 0 Number of turns of absolute encoder (32-bit) 0 Single turn position of absolute encoder (32-bit) 0 Version code 1 0 Version code 2 0 Version code 3 0 Product series code 0 Fault record display 0 Fault code 0 Time stamp upon selected fault (32-bit) 0 Motor speed upon selected fault 0 U-phase current upon selected fault 0 DC bus voltage upon selected fault 0 Input terminal status upon selected fault 0 Output terminal status upon selected fault 0 Customized software version 0 Accumulative load ratio 0 Regenerative load ratio 0 Internal warning code 0 Internal instruction present stage code 0 Customized product serial code 0 High 32 place value of absolute position counter 0 High 32 place value of feedback pulse counter (32-bit) 0 ro o #x2120 Virtual DI DO DT2120 128 Number of Entries 60 Virtus DI Function value 1 0 Virtus DI Function value 2 0 Virtus DI Function value 3 0 Virtus DI Function value 4 0 DO status1 0 DO status2 0 ro o #x213A Number of turns of absolute encoder (32-bit) DINT 32 #x00000000 #xFFFFFFFF #x00000000 ro o T #x213B Single turn position of absolute encoder (32-bit) DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x213C absolute encoder position low 32-bit DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x213D absolute encoder position high 32-bit DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x213F Servo Error Code UINT 16 #x0000 #xFFFF #x0000 ro o T #x2141 analog input1 value INT 16 #x0000 #xFFFF #x0000 ro o T #x2142 analog input2 value INT 16 #x0000 #xFFFF #x0000 ro o T #x603F Error Code UINT 16 #x0000 #xFFFF #x0000 ro o T #x6040 Control Word UINT 16 #x0000 #xFFFF #x0000 rw m R #x6041 Status Word UINT 16 #x0000 #xFFFF #x0000 ro m T #x605A Quick stop option code INT 16 #x0000 #x0007 #x0001 rw o R #x605D Halt option code INT 16 #x8000 #x7FFF #x0000 rw o R #x6060 Modes of operation SINT 8 #x00 #x0A #x00 rw m R #x6061 Modes of operation display SINT 8 #x00 #x0A #x00 ro m T #x6062 Position demand value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x6063 Position actual internal value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x6064 Position actual value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x6065 Following error window UDINT 32 #x80000000 #x7FFFFFFF #x00030D40 rw o R #x6066 Following error timeout UINT 16 #x0000 #xFFFF #x0000 rw o R #x6067 Position window UDINT 32 #x00000000 #x7FFFFFFF #x000000C8 rw o R #x6068 Position window time UINT 16 #x0000 #xFFFF #x0000 rw o R #x606B Velocity demand value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro m T #x606C Velocity actual value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro m T #x606D Velocity window UINT 16 #x0000 #xFFFF #x000A rw o R #x606E Velocity window time UINT 16 #x0000 #xFFFF #x000A rw o R #x606F Velocity threshold UINT 16 #xF060 #xFFFF #x0064 rw o R #x6071 Target torque INT 16 #x0000 #x0FA0 #x0000 rw m R #x6072 Max torque UINT 16 #x0000 #x0FA0 #x0000 rw o R #x6073 Max current UINT 16 #x0000 #xFFFF #x0BB8 ro o T #x6074 Torque demand value INT 16 #xF060 #x0FA0 #x0000 ro o T #x6075 Motor rated current UDINT 32 #x00000000 #x0000FFFF #x0000FFFF ro o T #x6076 Motor rated torque UDINT 32 #x00000000 #x0000FFFF #x0000FFFF ro o T #x6077 Torque actual value INT 16 #xF060 #x0FA0 #x0000 ro o T #x6078 Current actual value INT 16 #xD8F0 #x2710 #x0000 ro o T #x6079 DC link circuit voltage UDINT 32 #x00000000 #x000003E8 #x00000000 ro o T #x607A Target position DINT 32 #x80000000 #x7FFFFFFF #x00000000 rw m R #x607C Home offset DINT 32 #x80000000 #x7FFFFFFF #x00000000 rw o R #x607D Software position limit DT607D 80 Number of Entries #x02 Min position limit #x80000000 #x7FFFFFFF #x80000001 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro o #x607E Polarity USINT 8 #x00 #x01 #x00 rw o R #x607F Max profile velocity UDINT 32 #x00000000 #xFFFFFFFF #x00000BB8 rw o R #x6080 Max motor speed UDINT 32 #x00000000 #xFFFFFFFF #x00001194 rw o R #x6081 Profile velocity UDINT 32 #x00000000 #xFFFFFFFF #x00000064 rw o R #x6083 Profile acceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000064 rw m R #x6084 Profile deceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000064 rw m R #x6085 Quick stop deceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000005 rw m R #x6086 Motion profile type INT 16 #x8000 #x7FFF #x0000 rw m R #x6087 Torque slope UDINT 32 #x00000000 #xFFFFFFFF #x00000000 rw m R #x608F Position encoder resolutions DT608F 80 Number of Entries #x02 Encoder increments #x00000000 #xFFFFFFFF #x00020000 Motor revolutions #x00000000 #xFFFFFFFF #x00000001 ro o #x6091 Gear Ratio DT6091 80 Number of Entries #x02 Numerator #x00000000 #xFFFFFFFF #x00000001 Denominator #x00000000 #xFFFFFFFF #x00000001 ro o #x6092 Feed Constant DT6092 80 Number of Entries #x02 Numerator #x00000000 #xFFFFFFFF #x00000001 Denominator #x00000000 #xFFFFFFFF #x00000001 ro o #x6093 Position factor DT6093 80 Number of Entries #x02 Position factor Numerator #x00000000 #xFFFFFFFF #x00000001 Position factor Feed constant #x00000000 #xFFFFFFFF #x00000001 ro o #x6094 Velocity encoder factor DT6094 80 Number of Entries #x02 Velocity encoder factor Numerator #x00000000 #xFFFFFFFF #x00000001 Velocity encoder factor Divisor #x00000000 #xFFFFFFFF #x00000001 ro o #x6095 Velocity factor1 DT6095 80 Number of Entries #x02 Velocity factor1 Numerator #x00000000 #xFFFFFFFF #x00000001 Velocity factor1 Divisor #x00000000 #xFFFFFFFF #x00000001 ro o #x6097 Acceleration factor DT6097 80 Number of Entries #x02 Acceleration factor:Numerator #x00000000 #xFFFFFFFF #x00000001 Acceleration factor:Divisor #x00000000 #xFFFFFFFF #x00000001 ro o #x6098 Homing method SINT 8 #x00 #x23 #x00 rw o R #x6099 Homing speeds DT6099 80 Number of Entries #x02 Speed during search for switch #x00000000 #xFFFFFFFF #x00000064 Speed during search for zero #x00000000 #xFFFFFFFF #x0000000A ro o #x609A Homing acceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000000 rw o R #x60B0 Postion Offset DINT 32 #x80000000 #x7FFFFFFF #x00000000 rw o R #x60B1 Velocity Offset DINT 32 #x80000000 #x7FFFFFFF #x00000000 rw o R #x60B2 Torque Offset INT 16 #x8000 #x7FFF #x0000 rw o R #x60B8 Touch Probe Function UINT 16 #x0000 #xFFFF #x0000 rw o R #x60B9 Touch Probe Status UINT 16 #x0000 #xFFFF #x0000 ro o T #x60BA Touch Probe1 Pos1 Pos Value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60BB Touch Probe1 Neg1 Pos Value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60BC Touch Probe2 Pos1 Pos Value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60BD Touch Probe2 Neg1 Pos Value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60C0 Interpolation sub mode select INT 16 #x8000 #x7FFF #x0000 rw o R #x60C1 Interpolation data record DT60C1 48 Number of Entries #x01 Interpolation data record:x1 #x00000000 #xFFFFFFFF #x00000000 ro o #x60C2 Interpolation time period DT60C2 32 Number of Entries #x02 ip time units #x00 #xFF #x01 ip time index #x80 #x7F #xFD ro o #x60C5 Max acceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000000 rw o R #x60C6 Max deceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000000 rw o R #x60E0 Positive torque limit UINT 16 #x0000 #x0FA0 #x0000 rw o R #x60E1 Negative torque limit UINT 16 #x0000 #x0FA0 #x0000 rw o R #x60F2 Positioning option code UINT 16 #x0000 #xFFFF #x0000 rw o R #x60F4 Following error actual value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60F8 Max slippage DINT 32 #x80000000 #x7FFFFFFF #x00030D40 rw o R #x60FC Position demand internal value DINT 32 #x00000000 #xFFFFFFFF #x00000000 ro o T #x60FD Digital inputs UDINT 32 #x00000000 #xFFFFFFFF #x00000000 ro o T #x60FE Digital outputs DT60FE 80 Number of Entries #x02 Physical outputs #x00000000 #xFFFFFFFF #x00000000 Bitmask #x00000000 #xFFFFFFFF #x00000000 ro o #x60FF Target velocity DINT 32 #x00000000 #xFFFFFFFF #x000003E8 rw o R #x6502 Supported drive modes UDINT 32 #x00000000 #xFFFFFFFF #x00000000 ro o T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st RxPdo mapping #x1601 #x1602 #x1603 #x1604 #x6040 0 16 Control Word UINT #x6060 0 8 Modes of operation SINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch Probe Function UINT #x1601 2nd RxPdo mapping #x1600 #x1602 #x1603 #x1604 #x6040 0 16 Control Word UINT #x6060 0 8 Modes of operation SINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x6080 0 32 Max motor speed UDINT #x60B8 0 16 Touch Probe Function UINT #x60FF 0 32 Target velocity DINT #x1602 3rd RxPdo mapping #x1600 #x1601 #x1603 #x1604 #x6040 0 16 Control Word UINT #x6060 0 8 Modes of operation SINT #x6072 0 16 Max Torque UINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch Probe Function UINT #x60FF 0 32 Target velocity DINT #x1603 4th RxPdo mapping #x1600 #x1601 #x1602 #x1604 #x6040 0 16 Control Word UINT #x6060 0 8 Modes of operation SINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x607A 0 32 Target position DINT #x6080 0 32 Max motor speed UDINT #x60B8 0 16 Touch Probe Function UINT #x60FF 0 32 Target velocity DINT #x1604 5th RxPdo mapping #x1600 #x1601 #x1602 #x1603 #x6040 0 16 Control Word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch Probe Function UINT #x60E0 0 16 Positive torque limit UINT #x60E1 0 16 Negative torque limit UINT #x607F 0 32 Max profile velocity UDINT #x1a00 1st TxPdo mapping #x1A01 #x1A02 #x1A03 #x1A04 #x603F 0 16 Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x6061 0 8 Modes of operation display SINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT #x213F 0 16 Servo Error UINT #x1a01 2nd TxPdo mapping #x1A00 #x1A02 #x1A03 #x1A04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6061 0 8 Modes of operation display SINT #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 #x60BB 0 32 Touch probe pos1 neg value DINT #x60FD 0 32 Digital inputs UDINT #x1a02 3rd TxPdo mapping #x1A00 #x1A01 #x1A03 #x1A04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6061 0 8 Modes of operation display SINT #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 #x60FD 0 32 Digital inputs UDINT #x1a03 4th TxPdo mapping #x1A00 #x1A01 #x1A02 #x1A03 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6061 0 8 Modes of operation display SINT #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 #x60FD 0 32 Digital inputs UDINT #x1a04 5th TxPdo mapping #x1A00 #x1A01 #x1A02 #x1A03 #x603F 0 16 Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Modes of operation display SINT #x60F4 0 32 Following error actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch Probe2 Pos1 Pos Value DINT #x606C 0 32 Velocity actual value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 DC DC-Synchron #x300 0 0 0 FreeRun Free-Run #x0 0 0 0 4096 8D0E84CC88130000000000800000 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