3885 lines
60 KiB
Plaintext
3885 lines
60 KiB
Plaintext
[FileInfo]
|
|
CreatedBy=AMA
|
|
ModifiedBy=AMA
|
|
Description=EDS for Step-Servo CANopen Drives
|
|
CreationTime=01:04PM
|
|
CreationDate=04-14-2022
|
|
ModificationTime=01:04PM
|
|
ModificationDate=04-14-2022
|
|
FileName=CANOPEN_EDS_MBDV_Servo_DulAxes_V1.0.eds
|
|
FileVersion=3.0
|
|
FileRevision=0
|
|
EDSVersion=1.0
|
|
|
|
[DeviceInfo]
|
|
VendorName=Shanghai AMP & Moons' Automation
|
|
VendorNumber=0x000002D9
|
|
ProductName=MDB CANopen Drive
|
|
ProductNumber=0x00000000
|
|
RevisionNumber=0x00000000
|
|
OrderCode=0
|
|
BaudRate_10=1
|
|
BaudRate_20=1
|
|
BaudRate_50=1
|
|
BaudRate_125=1
|
|
BaudRate_250=1
|
|
BaudRate_500=1
|
|
BaudRate_800=1
|
|
BaudRate_1000=1
|
|
SimpleBootUpMaster=0
|
|
SimpleBootUpSlave=1
|
|
Granularity=8
|
|
DynamicChannelsSupported=0
|
|
CompactPDO=0
|
|
GroupMessaging=0
|
|
NrOfRXPDO=4
|
|
NrOfTXPDO=4
|
|
LSS_Supported=0
|
|
|
|
[DummyUsage]
|
|
Dummy0001=0
|
|
Dummy0002=1
|
|
Dummy0003=1
|
|
Dummy0004=1
|
|
Dummy0005=1
|
|
Dummy0006=1
|
|
Dummy0007=1
|
|
|
|
[Comments]
|
|
Lines=4
|
|
Line1=EDS File for CANopen device
|
|
Line2=CANopen DS301 & DSP402 implementation
|
|
Line3=Stack Version: V1.0
|
|
Line4=Created by AMA shanghai
|
|
|
|
[MandatoryObjects]
|
|
SupportedObjects=3
|
|
1=0x1000
|
|
2=0x1001
|
|
3=0x1018
|
|
|
|
[1000]
|
|
ParameterName=Device type
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x60192
|
|
PDOMapping=0
|
|
|
|
[1001]
|
|
ParameterName=Error register
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x00
|
|
PDOMapping=1
|
|
|
|
[1018]
|
|
ParameterName=Identity
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[1018sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x4
|
|
PDOMapping=0
|
|
|
|
[1018sub1]
|
|
ParameterName=vendor ID
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x000002D9
|
|
PDOMapping=0
|
|
|
|
[1018sub2]
|
|
ParameterName=product code
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1018sub3]
|
|
ParameterName=revision number
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1018sub4]
|
|
ParameterName=serial number
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[OptionalObjects]
|
|
SupportedObjects=70
|
|
1=0x1002
|
|
2=0x1003
|
|
3=0x1005
|
|
4=0x1006
|
|
5=0x1007
|
|
6=0x1008
|
|
7=0x1009
|
|
8=0x100A
|
|
9=0x1010
|
|
10=0x1011
|
|
11=0x1014
|
|
12=0x1017
|
|
13=0x1019
|
|
14=0x1029
|
|
15=0x1200
|
|
16=0x1400
|
|
17=0x1401
|
|
18=0x1402
|
|
19=0x1403
|
|
20=0x1600
|
|
21=0x1601
|
|
22=0x1602
|
|
23=0x1603
|
|
24=0x1800
|
|
25=0x1801
|
|
26=0x1802
|
|
27=0x1803
|
|
28=0x1A00
|
|
29=0x1A01
|
|
30=0x1A02
|
|
31=0x1A03
|
|
32=0x603F
|
|
33=0x6040
|
|
34=0x6041
|
|
35=0x605A
|
|
36=0x605B
|
|
37=0x605C
|
|
38=0x605D
|
|
39=0x605E
|
|
40=0x6060
|
|
41=0x6061
|
|
42=0x6064
|
|
43=0x606C
|
|
44=0x6071
|
|
45=0x6073
|
|
46=0x6074
|
|
47=0x6075
|
|
48=0x6076
|
|
49=0x6077
|
|
50=0x6078
|
|
51=0x607A
|
|
52=0x607C
|
|
53=0x607D
|
|
54=0x607E
|
|
55=0x607F
|
|
56=0x6081
|
|
57=0x6083
|
|
58=0x6084
|
|
59=0x6085
|
|
60=0x6087
|
|
61=0x6098
|
|
62=0x6099
|
|
63=0x609A
|
|
64=0x60E0
|
|
65=0x60E1
|
|
66=0x60F4
|
|
67=0x60FD
|
|
68=0x60FE
|
|
69=0x60FF
|
|
70=0x6502
|
|
|
|
[1002]
|
|
ParameterName=Manufacturer status register
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[1003]
|
|
ParameterName=Pre-defined error field
|
|
ObjectType=0x8
|
|
SubNumber=9
|
|
|
|
[1003sub0]
|
|
ParameterName=number of errors
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1003sub1]
|
|
ParameterName=standard error field
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1003sub2]
|
|
ParameterName=standard error field
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1003sub3]
|
|
ParameterName=standard error field
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1003sub4]
|
|
ParameterName=standard error field
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1003sub5]
|
|
ParameterName=standard error field
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1003sub6]
|
|
ParameterName=standard error field
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1003sub7]
|
|
ParameterName=standard error field
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1003sub8]
|
|
ParameterName=standard error field
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1005]
|
|
ParameterName=COB-ID SYNC message
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000080
|
|
PDOMapping=0
|
|
|
|
[1006]
|
|
ParameterName=Communication cycle period
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1007]
|
|
ParameterName=Synchronous window length
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1008]
|
|
ParameterName=Manufacturer device name
|
|
ObjectType=0x7
|
|
DataType=0x0009
|
|
AccessType=const
|
|
DefaultValue=AMA CANopen Motor Driver
|
|
PDOMapping=0
|
|
|
|
[1009]
|
|
ParameterName=Manufacturer hardware version
|
|
ObjectType=0x7
|
|
DataType=0x0009
|
|
AccessType=const
|
|
DefaultValue=A001
|
|
PDOMapping=0
|
|
|
|
[100A]
|
|
ParameterName=Manufacturer software version
|
|
ObjectType=0x7
|
|
DataType=0x0009
|
|
AccessType=const
|
|
DefaultValue=310B
|
|
PDOMapping=0
|
|
|
|
[1010]
|
|
ParameterName=Store parameters
|
|
ObjectType=0x8
|
|
SubNumber=3
|
|
|
|
[1010sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1010sub1]
|
|
ParameterName=save config parameters
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000003
|
|
PDOMapping=0
|
|
|
|
[1010sub2]
|
|
ParameterName=save Communication Parameters
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000003
|
|
PDOMapping=0
|
|
|
|
[1011]
|
|
ParameterName=Restore default parameters
|
|
ObjectType=0x8
|
|
SubNumber=3
|
|
|
|
[1011sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1011sub1]
|
|
ParameterName=restore all default parameters
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000001
|
|
PDOMapping=0
|
|
|
|
[1011sub2]
|
|
ParameterName=restore communication default parameters
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000001
|
|
PDOMapping=0
|
|
|
|
[1014]
|
|
ParameterName=COB-ID EMCY
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=$NODEID+0x80
|
|
PDOMapping=0
|
|
|
|
[1017]
|
|
ParameterName=Producer heartbeat time
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x3e8
|
|
PDOMapping=0
|
|
|
|
[1019]
|
|
ParameterName=Synchronous counter overflow value
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1029]
|
|
ParameterName=Error behavior
|
|
ObjectType=0x8
|
|
SubNumber=7
|
|
|
|
[1029sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x6
|
|
PDOMapping=0
|
|
|
|
[1029sub1]
|
|
ParameterName=communication error
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1029sub2]
|
|
ParameterName=communication other
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1029sub3]
|
|
ParameterName=communication passive
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x01
|
|
PDOMapping=0
|
|
|
|
[1029sub4]
|
|
ParameterName=generic
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1029sub5]
|
|
ParameterName=device profile
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1029sub6]
|
|
ParameterName=manufacturer specific
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1200]
|
|
ParameterName=SDO server parameter
|
|
ObjectType=0x9
|
|
SubNumber=3
|
|
|
|
[1200sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1200sub1]
|
|
ParameterName=COB-ID client to server
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=$NODEID+0x600
|
|
PDOMapping=0
|
|
|
|
[1200sub2]
|
|
ParameterName=COB-ID server to client
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=$NODEID+0x580
|
|
PDOMapping=0
|
|
|
|
[1400]
|
|
ParameterName=RPDO communication parameter
|
|
ObjectType=0x9
|
|
SubNumber=3
|
|
|
|
[1400sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1400sub1]
|
|
ParameterName=COB-ID used by RPDO
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=$NODEID+0x200
|
|
PDOMapping=0
|
|
|
|
[1400sub2]
|
|
ParameterName=transmission type
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0xff
|
|
PDOMapping=0
|
|
|
|
[1401]
|
|
ParameterName=RPDO communication parameter
|
|
ObjectType=0x9
|
|
SubNumber=3
|
|
|
|
[1401sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1401sub1]
|
|
ParameterName=COB-ID used by RPDO
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=$NODEID+0x300
|
|
PDOMapping=0
|
|
|
|
[1401sub2]
|
|
ParameterName=transmission type
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0xfe
|
|
PDOMapping=0
|
|
|
|
[1402]
|
|
ParameterName=RPDO communication parameter
|
|
ObjectType=0x9
|
|
SubNumber=3
|
|
|
|
[1402sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1402sub1]
|
|
ParameterName=COB-ID used by RPDO
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=$NODEID+0x400
|
|
PDOMapping=0
|
|
|
|
[1402sub2]
|
|
ParameterName=transmission type
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0xfe
|
|
PDOMapping=0
|
|
|
|
[1403]
|
|
ParameterName=RPDO communication parameter
|
|
ObjectType=0x9
|
|
SubNumber=3
|
|
|
|
[1403sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1403sub1]
|
|
ParameterName=COB-ID used by RPDO
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=$NODEID+0x500
|
|
PDOMapping=0
|
|
|
|
[1403sub2]
|
|
ParameterName=transmission type
|
|
ObjectType=0x9
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0xfe
|
|
|
|
[1600]
|
|
ParameterName=RPDO mapping parameter
|
|
ObjectType=0x9
|
|
SubNumber=9
|
|
|
|
[1600sub0]
|
|
ParameterName=number of mapped application objects in RPDO
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x1
|
|
PDOMapping=0
|
|
|
|
[1600sub1]
|
|
ParameterName=1st application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x60400010
|
|
PDOMapping=0
|
|
|
|
[1600sub2]
|
|
ParameterName=2nd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1600sub3]
|
|
ParameterName=3rd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1600sub4]
|
|
ParameterName=4th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1600sub5]
|
|
ParameterName=5th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1600sub6]
|
|
ParameterName=6th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1600sub7]
|
|
ParameterName=7th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1600sub8]
|
|
ParameterName=8th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1601]
|
|
ParameterName=RPDO mapping parameter
|
|
ObjectType=0x9
|
|
SubNumber=9
|
|
|
|
[1601sub0]
|
|
ParameterName=number of mapped application objects in RPDO
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1601sub1]
|
|
ParameterName=1st application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x60400010
|
|
PDOMapping=0
|
|
|
|
[1601sub2]
|
|
ParameterName=2nd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x607A0020
|
|
PDOMapping=0
|
|
|
|
[1601sub3]
|
|
ParameterName=3rd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1601sub4]
|
|
ParameterName=4th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1601sub5]
|
|
ParameterName=5th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1601sub6]
|
|
ParameterName=6th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1601sub7]
|
|
ParameterName=7th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1601sub8]
|
|
ParameterName=8th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1602]
|
|
ParameterName=RPDO mapping parameter
|
|
ObjectType=0x9
|
|
SubNumber=9
|
|
|
|
[1602sub0]
|
|
ParameterName=number of mapped application objects in RPDO
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1602sub1]
|
|
ParameterName=1st application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x60400010
|
|
PDOMapping=0
|
|
|
|
[1602sub2]
|
|
ParameterName=2nd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x60FF0020
|
|
PDOMapping=0
|
|
|
|
[1602sub3]
|
|
ParameterName=3rd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1602sub4]
|
|
ParameterName=4th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1602sub5]
|
|
ParameterName=5th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1602sub6]
|
|
ParameterName=6th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1602sub7]
|
|
ParameterName=7th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1602sub8]
|
|
ParameterName=8th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1603]
|
|
ParameterName=RPDO mapping parameter
|
|
ObjectType=0x9
|
|
SubNumber=9
|
|
|
|
[1603sub0]
|
|
ParameterName=number of mapped application objects in RPDO
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x1
|
|
PDOMapping=0
|
|
|
|
[1603sub1]
|
|
ParameterName=1st application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x60FE0120
|
|
PDOMapping=0
|
|
|
|
[1603sub2]
|
|
ParameterName=2nd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1603sub3]
|
|
ParameterName=3rd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1603sub4]
|
|
ParameterName=4th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1603sub5]
|
|
ParameterName=5th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1603sub6]
|
|
ParameterName=6th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1603sub7]
|
|
ParameterName=7th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1603sub8]
|
|
ParameterName=8th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1800]
|
|
ParameterName=TPDO communication parameter
|
|
ObjectType=0x9
|
|
SubNumber=7
|
|
|
|
[1800sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x6
|
|
PDOMapping=0
|
|
|
|
[1800sub1]
|
|
ParameterName=COB-ID used by TPDO
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=$NODEID+0x180
|
|
PDOMapping=0
|
|
|
|
[1800sub2]
|
|
ParameterName=transmission type
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0xff
|
|
PDOMapping=0
|
|
|
|
[1800sub3]
|
|
ParameterName=inhibit time
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x64
|
|
PDOMapping=0
|
|
|
|
[1800sub4]
|
|
ParameterName=compatibility entry
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1800sub5]
|
|
ParameterName=event timer
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[1800sub6]
|
|
ParameterName=SYNC start value
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1801]
|
|
ParameterName=TPDO communication parameter
|
|
ObjectType=0x9
|
|
SubNumber=7
|
|
|
|
[1801sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x6
|
|
PDOMapping=0
|
|
|
|
[1801sub1]
|
|
ParameterName=COB-ID used by TPDO
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=$NODEID+0x280
|
|
PDOMapping=0
|
|
|
|
[1801sub2]
|
|
ParameterName=transmission type
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0xff
|
|
PDOMapping=0
|
|
|
|
[1801sub3]
|
|
ParameterName=inhibit time
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[1801sub4]
|
|
ParameterName=compatibility entry
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1801sub5]
|
|
ParameterName=event timer
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[1801sub6]
|
|
ParameterName=SYNC start value
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1802]
|
|
ParameterName=TPDO communication parameter
|
|
ObjectType=0x9
|
|
SubNumber=7
|
|
|
|
[1802sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x6
|
|
PDOMapping=0
|
|
|
|
[1802sub1]
|
|
ParameterName=COB-ID used by TPDO
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=$NODEID+0x380
|
|
PDOMapping=0
|
|
|
|
[1802sub2]
|
|
ParameterName=transmission type
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0xff
|
|
PDOMapping=0
|
|
|
|
[1802sub3]
|
|
ParameterName=inhibit time
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[1802sub4]
|
|
ParameterName=compatibility entry
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1802sub5]
|
|
ParameterName=event timer
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[1802sub6]
|
|
ParameterName=SYNC start value
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1803]
|
|
ParameterName=TPDO communication parameter
|
|
ObjectType=0x9
|
|
SubNumber=7
|
|
|
|
[1803sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x6
|
|
PDOMapping=0
|
|
|
|
[1803sub1]
|
|
ParameterName=COB-ID used by TPDO
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=$NODEID+0x480
|
|
PDOMapping=0
|
|
|
|
[1803sub2]
|
|
ParameterName=transmission type
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0xff
|
|
PDOMapping=0
|
|
|
|
[1803sub3]
|
|
ParameterName=inhibit time
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[1803sub4]
|
|
ParameterName=compatibility entry
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1803sub5]
|
|
ParameterName=event timer
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[1803sub6]
|
|
ParameterName=SYNC start value
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[1A00]
|
|
ParameterName=TPDO mapping parameter
|
|
ObjectType=0x9
|
|
SubNumber=9
|
|
|
|
[1A00sub0]
|
|
ParameterName=number of mapped application objects in TPDO
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x1
|
|
PDOMapping=0
|
|
|
|
[1A00sub1]
|
|
ParameterName=1st application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x60410010
|
|
PDOMapping=0
|
|
|
|
[1A00sub2]
|
|
ParameterName=2nd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A00sub3]
|
|
ParameterName=3rd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A00sub4]
|
|
ParameterName=4th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A00sub5]
|
|
ParameterName=5th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A00sub6]
|
|
ParameterName=6th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A00sub7]
|
|
ParameterName=7th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A00sub8]
|
|
ParameterName=8th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A01]
|
|
ParameterName=TPDO mapping parameter
|
|
ObjectType=0x9
|
|
SubNumber=9
|
|
|
|
[1A01sub0]
|
|
ParameterName=number of mapped application objects in TPDO
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x1
|
|
PDOMapping=0
|
|
|
|
[1A01sub1]
|
|
ParameterName=1st application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x60640020
|
|
PDOMapping=0
|
|
|
|
[1A01sub2]
|
|
ParameterName=2nd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A01sub3]
|
|
ParameterName=3rd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A01sub4]
|
|
ParameterName=4th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A01sub5]
|
|
ParameterName=5th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A01sub6]
|
|
ParameterName=6th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A01sub7]
|
|
ParameterName=7th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A01sub8]
|
|
ParameterName=8th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A02]
|
|
ParameterName=TPDO mapping parameter
|
|
ObjectType=0x9
|
|
SubNumber=9
|
|
|
|
[1A02sub0]
|
|
ParameterName=number of mapped application objects in TPDO
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x1
|
|
PDOMapping=0
|
|
|
|
[1A02sub1]
|
|
ParameterName=1st application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x606C0020
|
|
PDOMapping=0
|
|
|
|
[1A02sub2]
|
|
ParameterName=2nd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A02sub3]
|
|
ParameterName=3rd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A02sub4]
|
|
ParameterName=4th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A02sub5]
|
|
ParameterName=5th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A02sub6]
|
|
ParameterName=6th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A02sub7]
|
|
ParameterName=7th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A02sub8]
|
|
ParameterName=8th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A03]
|
|
ParameterName=TPDO mapping parameter
|
|
ObjectType=0x9
|
|
SubNumber=9
|
|
|
|
[1A03sub0]
|
|
ParameterName=number of mapped application objects in TPDO
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[1A03sub1]
|
|
ParameterName=1st application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x60640020
|
|
PDOMapping=0
|
|
|
|
[1A03sub2]
|
|
ParameterName=2nd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x606C0020
|
|
PDOMapping=0
|
|
|
|
[1A03sub3]
|
|
ParameterName=3rd application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A03sub4]
|
|
ParameterName=4th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A03sub5]
|
|
ParameterName=5th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A03sub6]
|
|
ParameterName=6th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A03sub7]
|
|
ParameterName=7th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[1A03sub8]
|
|
ParameterName=8th application object
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0x00000000
|
|
PDOMapping=0
|
|
|
|
[603F]
|
|
ParameterName=Error code
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
DefaultValue=0x0000
|
|
PDOMapping=1
|
|
|
|
[6040]
|
|
ParameterName=Control word
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rww
|
|
DefaultValue=0x0000
|
|
PDOMapping=1
|
|
|
|
[6041]
|
|
ParameterName=Status word
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
DefaultValue=0x0000
|
|
PDOMapping=1
|
|
|
|
[605A]
|
|
ParameterName=Quick stop option code
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=rw
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[605B]
|
|
ParameterName=Shutdown option code
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[605C]
|
|
ParameterName=Disable operation option code
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[605D]
|
|
ParameterName=Halt option code
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[605E]
|
|
ParameterName=Fault option code
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[6060]
|
|
ParameterName=Modes of operation
|
|
ObjectType=0x7
|
|
DataType=0x0002
|
|
AccessType=rww
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[6061]
|
|
ParameterName=Modes of operation display
|
|
ObjectType=0x7
|
|
DataType=0x0002
|
|
AccessType=ro
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[6064]
|
|
ParameterName=Position value calculated
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=ro
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[606C]
|
|
ParameterName=Velocity value calculated
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=ro
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[6071]
|
|
ParameterName=Target torque
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=rww
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[6073]
|
|
ParameterName=Max current
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rww
|
|
DefaultValue=0x0000
|
|
PDOMapping=1
|
|
|
|
[6074]
|
|
ParameterName=Torque demand
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=rww
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[6075]
|
|
ParameterName=Motor rated current
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[6076]
|
|
ParameterName=Motor rated torque
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[6077]
|
|
ParameterName=Torque actual value
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[6078]
|
|
ParameterName=Current actual value
|
|
ObjectType=0x7
|
|
DataType=0x0003
|
|
AccessType=ro
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[607A]
|
|
ParameterName=Target position
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rww
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[607C]
|
|
ParameterName=Home offset
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rww
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[607D]
|
|
ParameterName=Software position limit
|
|
ObjectType=0x8
|
|
SubNumber=3
|
|
|
|
[607Dsub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=2
|
|
PDOMapping=0
|
|
|
|
[607Dsub1]
|
|
ParameterName=min position range limit
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[607Dsub2]
|
|
ParameterName=max position range limit
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[607E]
|
|
ParameterName=Polarity
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rww
|
|
DefaultValue=0x00
|
|
PDOMapping=1
|
|
|
|
[607F]
|
|
ParameterName=Max profile speed
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[6081]
|
|
ParameterName=Profile velocity
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[6083]
|
|
ParameterName=Profile acceleration
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[6084]
|
|
ParameterName=Profile deceleration
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[6085]
|
|
ParameterName=Quick stop deceleration
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[6087]
|
|
ParameterName=Torque slope
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[6098]
|
|
ParameterName=Homing method
|
|
ObjectType=0x7
|
|
DataType=0x0002
|
|
AccessType=rww
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[6099]
|
|
ParameterName=Homing speed
|
|
ObjectType=0x8
|
|
SubNumber=3
|
|
|
|
[6099sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[6099sub1]
|
|
ParameterName=speed during search for switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[6099sub2]
|
|
ParameterName=speed during search for zero
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[609A]
|
|
ParameterName=Homing acceleration
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[60E0]
|
|
ParameterName=Positive torque limit value
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rww
|
|
PDOMapping=1
|
|
|
|
[60E1]
|
|
ParameterName=Negative torque limit value
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rww
|
|
PDOMapping=1
|
|
|
|
[60F4]
|
|
ParameterName=Following error actual value
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=ro
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[60FD]
|
|
ParameterName=Ditigal inputs
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=1
|
|
|
|
[60FE]
|
|
ParameterName=Digital outputs
|
|
ObjectType=0x9
|
|
SubNumber=3
|
|
|
|
[60FEsub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=2
|
|
PDOMapping=0
|
|
|
|
[60FEsub1]
|
|
ParameterName=physical outputs
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[60FEsub2]
|
|
ParameterName=bit mask
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
DefaultValue=0x00000000
|
|
PDOMapping=1
|
|
|
|
[60FF]
|
|
ParameterName=Target velocity
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rww
|
|
DefaultValue=0
|
|
PDOMapping=1
|
|
|
|
[6502]
|
|
ParameterName=Supported drive modes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x1012D
|
|
PDOMapping=0
|
|
|
|
[ManufacturerObjects]
|
|
SupportedObjects=108
|
|
1=0x2001
|
|
2=0x2002
|
|
3=0x2006
|
|
4=0x200B
|
|
5=0x200C
|
|
6=0x200F
|
|
7=0x2019
|
|
8=0x2020
|
|
9=0x2021
|
|
10=0x2030
|
|
11=0x2031
|
|
12=0x2038
|
|
13=0x2040
|
|
14=0x2041
|
|
15=0x2042
|
|
16=0x2043
|
|
17=0x2050
|
|
18=0x2051
|
|
19=0x2060
|
|
20=0x2070
|
|
21=0x2A01
|
|
22=0x2A02
|
|
23=0x2A03
|
|
24=0x2A04
|
|
25=0x2A05
|
|
26=0x2A06
|
|
27=0x2A08
|
|
28=0x2A09
|
|
29=0x2A0A
|
|
30=0x2A0B
|
|
31=0x2A10
|
|
32=0x2A13
|
|
33=0x2A14
|
|
34=0x2A15
|
|
35=0x2A16
|
|
36=0x2A17
|
|
37=0x2A18
|
|
38=0x2A20
|
|
39=0x2A21
|
|
40=0x2A30
|
|
41=0x2A31
|
|
42=0x2A32
|
|
43=0x2A33
|
|
44=0x2A34
|
|
45=0x2A35
|
|
46=0x2A36
|
|
47=0x2A37
|
|
48=0x2A42
|
|
49=0x2A43
|
|
50=0x2A44
|
|
51=0x2A45
|
|
52=0x2A46
|
|
53=0x2A47
|
|
54=0x2A4C
|
|
55=0x2A4D
|
|
56=0x2A4E
|
|
57=0x2A50
|
|
58=0x2A51
|
|
59=0x2A52
|
|
60=0x2A53
|
|
61=0x2A54
|
|
62=0x2A55
|
|
63=0x2A56
|
|
64=0x2A57
|
|
65=0x2A58
|
|
66=0x2A59
|
|
67=0x2A5A
|
|
68=0x2A5B
|
|
69=0x2A5C
|
|
70=0x2A5D
|
|
71=0x2A5E
|
|
72=0x2A5F
|
|
73=0x2A60
|
|
74=0x2A61
|
|
75=0x2A62
|
|
76=0x2A63
|
|
77=0x2A64
|
|
78=0x2A65
|
|
79=0x2A66
|
|
80=0x2A67
|
|
81=0x2A68
|
|
82=0x2A69
|
|
83=0x2A80
|
|
84=0x2A81
|
|
85=0x2A82
|
|
86=0x2A83
|
|
87=0x2A84
|
|
88=0x2A85
|
|
89=0x2A86
|
|
90=0x2A87
|
|
91=0x2A88
|
|
92=0x2A90
|
|
93=0x2A91
|
|
94=0x2A94
|
|
95=0x2A9A
|
|
96=0x2A9B
|
|
97=0x2A9C
|
|
98=0x2AA0
|
|
99=0x2AA1
|
|
100=0x2AA2
|
|
101=0x2AA3
|
|
102=0x2AB0
|
|
103=0x2AB1
|
|
104=0x2AC0
|
|
105=0x2AC1
|
|
106=0x2AC2
|
|
107=0x2AC3
|
|
108=0x2AC4
|
|
|
|
[2001]
|
|
ParameterName=Home switch
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x3
|
|
PDOMapping=0
|
|
|
|
[2002]
|
|
ParameterName=Output Status
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2006]
|
|
ParameterName=DSP clear alarm
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=wo
|
|
DefaultValue=0x00
|
|
PDOMapping=1
|
|
|
|
[200B]
|
|
ParameterName=DSP status code
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x0000
|
|
PDOMapping=1
|
|
|
|
[200C]
|
|
ParameterName=Zero position
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=wo
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[200F]
|
|
ParameterName=DSP alarm code
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x0000
|
|
PDOMapping=1
|
|
|
|
[2019]
|
|
ParameterName=Device temperature
|
|
ObjectType=0x8
|
|
SubNumber=5
|
|
|
|
[2019sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2019sub1]
|
|
ParameterName=drive temperature
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=1
|
|
|
|
[2019sub2]
|
|
ParameterName=DSP temperature
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=1
|
|
|
|
[2019sub3]
|
|
ParameterName=reserved 1
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2019sub4]
|
|
ParameterName=reserved 2
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2020]
|
|
ParameterName=Node ID
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[2021]
|
|
ParameterName=Bit rate
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[2030]
|
|
ParameterName=DC bus voltage
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=1
|
|
|
|
[2031]
|
|
ParameterName=DSP version
|
|
ObjectType=0x7
|
|
DataType=0x0009
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2038]
|
|
ParameterName=IO Emergency Options
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x5
|
|
PDOMapping=0
|
|
|
|
[2040]
|
|
ParameterName=PDO1 transmit mask
|
|
ObjectType=0x8
|
|
SubNumber=3
|
|
|
|
[2040sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[2040sub1]
|
|
ParameterName=PDO1 mask lower bytes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0xFFFFFFFF
|
|
PDOMapping=0
|
|
|
|
[2040sub2]
|
|
ParameterName=PDO1 mask upper bytes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0xFFFFFFFF
|
|
PDOMapping=0
|
|
|
|
[2041]
|
|
ParameterName=PDO2 transmit mask
|
|
ObjectType=0x8
|
|
SubNumber=3
|
|
|
|
[2041sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[2041sub1]
|
|
ParameterName=PDO2 mask lower bytes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0xFFFFFFFF
|
|
PDOMapping=0
|
|
|
|
[2041sub2]
|
|
ParameterName=PDO2 mask upper bytes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0xFFFFFFFF
|
|
PDOMapping=0
|
|
|
|
[2042]
|
|
ParameterName=PDO3 transmit mask
|
|
ObjectType=0x8
|
|
SubNumber=3
|
|
|
|
[2042sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[2042sub1]
|
|
ParameterName=PDO3 mask lower bytes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0xFFFFFFFF
|
|
PDOMapping=0
|
|
|
|
[2042sub2]
|
|
ParameterName=PDO3 mask upper bytes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0xFFFFFFFF
|
|
PDOMapping=0
|
|
|
|
[2043]
|
|
ParameterName=PDO4 transmit mask
|
|
ObjectType=0x8
|
|
SubNumber=3
|
|
|
|
[2043sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x2
|
|
PDOMapping=0
|
|
|
|
[2043sub1]
|
|
ParameterName=PDO4 mask lower bytes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0xFFFFFFFF
|
|
PDOMapping=0
|
|
|
|
[2043sub2]
|
|
ParameterName=PDO4 mask upper bytes
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
DefaultValue=0xFFFFFFFF
|
|
PDOMapping=0
|
|
|
|
[2050]
|
|
ParameterName=Product series
|
|
ObjectType=0x7
|
|
DataType=0x0009
|
|
AccessType=const
|
|
DefaultValue=MBDV
|
|
PDOMapping=0
|
|
|
|
[2051]
|
|
ParameterName=Customer name
|
|
ObjectType=0x7
|
|
DataType=0x000a
|
|
AccessType=ro
|
|
DefaultValue=----
|
|
PDOMapping=0
|
|
|
|
[2060]
|
|
ParameterName=Comm. watchdog
|
|
ObjectType=0x9
|
|
SubNumber=6
|
|
|
|
[2060sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=0x5
|
|
PDOMapping=0
|
|
|
|
[2060sub1]
|
|
ParameterName=enable
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rww
|
|
DefaultValue=0x00
|
|
PDOMapping=1
|
|
|
|
[2060sub2]
|
|
ParameterName=status
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
DefaultValue=0x00
|
|
PDOMapping=1
|
|
|
|
[2060sub3]
|
|
ParameterName=timeout
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x1f4
|
|
PDOMapping=0
|
|
|
|
[2060sub4]
|
|
ParameterName=trigger event
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0xF
|
|
PDOMapping=0
|
|
|
|
[2060sub5]
|
|
ParameterName=timeout option code
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
DefaultValue=0x00
|
|
PDOMapping=0
|
|
|
|
[2070]
|
|
ParameterName=Switch value
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
DefaultValue=0x0000
|
|
PDOMapping=0
|
|
|
|
[2A01]
|
|
ParameterName=Current limit
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A02]
|
|
ParameterName=Current limit method
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A03]
|
|
ParameterName=Max Current
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A04]
|
|
ParameterName=Max Current 1
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A05]
|
|
ParameterName=IO torque limit
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A06]
|
|
ParameterName=IO torque limit
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A08]
|
|
ParameterName=Hard Stop Current Limit
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A09]
|
|
ParameterName=Halt Time
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A0A]
|
|
ParameterName=Reserved Motor Dir
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A0B]
|
|
ParameterName=Encoder Resolution
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A10]
|
|
ParameterName=Output Configure
|
|
ObjectType=0x8
|
|
SubNumber=7
|
|
|
|
[2A10sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=6
|
|
PDOMapping=0
|
|
|
|
[2A10sub1]
|
|
ParameterName=Output Configure1
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A10sub2]
|
|
ParameterName=Output Configure2
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A10sub3]
|
|
ParameterName=Output Configure3
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A10sub4]
|
|
ParameterName=Output Configure4
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A10sub5]
|
|
ParameterName=Output Configure5
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A10sub6]
|
|
ParameterName=Output Configure6
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A13]
|
|
ParameterName=Brake Output Parameters
|
|
ObjectType=0x9
|
|
SubNumber=3
|
|
|
|
[2A13sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=2
|
|
PDOMapping=0
|
|
|
|
[2A13sub1]
|
|
ParameterName=Brake Disengage
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A13sub2]
|
|
ParameterName=Brake Engage
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A14]
|
|
ParameterName=Absolute Position Reach
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A15]
|
|
ParameterName=In Position Parameters
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[2A15sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2A15sub1]
|
|
ParameterName=Position Limit
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A15sub2]
|
|
ParameterName=In Position Timing
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A15sub3]
|
|
ParameterName=In Position Counts
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A15sub4]
|
|
ParameterName=CSP In Position Timing
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A16]
|
|
ParameterName=Speed Clamp Parameters
|
|
ObjectType=0x9
|
|
SubNumber=4
|
|
|
|
[2A16sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=3
|
|
PDOMapping=0
|
|
|
|
[2A16sub1]
|
|
ParameterName=Zero Speed Threshold
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A16sub2]
|
|
ParameterName=Target Speed Reach Threshold
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A16sub3]
|
|
ParameterName=Speed Ripple Limit
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A17]
|
|
ParameterName=Torque Ripple Limit
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A18]
|
|
ParameterName=Current Threshold
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20]
|
|
ParameterName=Input Config Parameters
|
|
ObjectType=0x8
|
|
SubNumber=11
|
|
|
|
[2A20sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=10
|
|
PDOMapping=0
|
|
|
|
[2A20sub1]
|
|
ParameterName=Input Config 1
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20sub2]
|
|
ParameterName=Input Config 2
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20sub3]
|
|
ParameterName=Input Config 3
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20sub4]
|
|
ParameterName=Input Config 4
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20sub5]
|
|
ParameterName=Input Config 5
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20sub6]
|
|
ParameterName=Input Config 6
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20sub7]
|
|
ParameterName=Input Config 7
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20sub8]
|
|
ParameterName=Input Config 8
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20sub9]
|
|
ParameterName=Input Config 9
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A20subA]
|
|
ParameterName=Input Config 10
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21]
|
|
ParameterName=Input Filter
|
|
ObjectType=0x8
|
|
SubNumber=11
|
|
|
|
[2A21sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=10
|
|
PDOMapping=0
|
|
|
|
[2A21sub1]
|
|
ParameterName=Input Filter 1
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21sub2]
|
|
ParameterName=Input Filter 2
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21sub3]
|
|
ParameterName=Input Filter 3
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21sub4]
|
|
ParameterName=Input Filter 4
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21sub5]
|
|
ParameterName=Input Filter 5
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21sub6]
|
|
ParameterName=Input Filter 6
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21sub7]
|
|
ParameterName=Input Filter 7
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21sub8]
|
|
ParameterName=Input Filter 8
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21sub9]
|
|
ParameterName=Input Filter 9
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A21subA]
|
|
ParameterName=Input Filter 10
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A30]
|
|
ParameterName=Control Mode
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A31]
|
|
ParameterName=Control Mode 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A32]
|
|
ParameterName=Operation Mode
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A33]
|
|
ParameterName=Jog Mode
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A34]
|
|
ParameterName=Regen Configure
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[2A34sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2A34sub1]
|
|
ParameterName=Cleamp Resistor
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A34sub2]
|
|
ParameterName=Clamp Power
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A34sub3]
|
|
ParameterName=Clamp Time
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A34sub4]
|
|
ParameterName=Clamp Voltage
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A35]
|
|
ParameterName=Parameter Lock
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A36]
|
|
ParameterName=Default Display
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A37]
|
|
ParameterName=Mask of Alarm
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A42]
|
|
ParameterName=Jog Speed
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A43]
|
|
ParameterName=Jog Acceleration
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A44]
|
|
ParameterName=Jog Deceleration
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A45]
|
|
ParameterName=Change Velocity
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A46]
|
|
ParameterName=Jog Change Velocity
|
|
ObjectType=0x8
|
|
SubNumber=9
|
|
|
|
[2A46sub0]
|
|
ParameterName=NrOfObjects
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=8
|
|
PDOMapping=0
|
|
|
|
[2A46sub1]
|
|
ParameterName=Jog Change Velocity1
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A46sub2]
|
|
ParameterName=Jog Change Velocity2
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A46sub3]
|
|
ParameterName=Jog Change Velocity3
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A46sub4]
|
|
ParameterName=Jog Change Velocity4
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A46sub5]
|
|
ParameterName=Jog Change Velocity5
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A46sub6]
|
|
ParameterName=Jog Change Velocity6
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A46sub7]
|
|
ParameterName=Jog Change Velocity7
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A46sub8]
|
|
ParameterName=Jog Change Velocity8
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A47]
|
|
ParameterName=Max Torque Velocity
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rww
|
|
PDOMapping=1
|
|
|
|
[2A4C]
|
|
ParameterName=S Curve Filter
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A4D]
|
|
ParameterName=Jerk Filter
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A4E]
|
|
ParameterName=FIR Filter
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A50]
|
|
ParameterName=Auto Tuning Mode
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A51]
|
|
ParameterName=Load Type
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A52]
|
|
ParameterName=Inertia Ratio
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A53]
|
|
ParameterName=Global Gain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A54]
|
|
ParameterName=Global Gain 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A55]
|
|
ParameterName=Pos P Gain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A56]
|
|
ParameterName=Pos I Gain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A57]
|
|
ParameterName=Pos DeriGain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A58]
|
|
ParameterName=Pos DeriFilter
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A59]
|
|
ParameterName=Velocity FF Gain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A5A]
|
|
ParameterName=Velocity FF Filter
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A5B]
|
|
ParameterName=Velocity Ref Gain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A5C]
|
|
ParameterName=Velocity P Gain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A5D]
|
|
ParameterName=Velocity I Gain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A5E]
|
|
ParameterName=Torque FF Gain
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A5F]
|
|
ParameterName=Torque FF Filter
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A60]
|
|
ParameterName=PID Filter
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A61]
|
|
ParameterName=Pos P Gain 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A62]
|
|
ParameterName=Pos I Gain 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A63]
|
|
ParameterName=Pos DeriGain 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A64]
|
|
ParameterName=Pos DeriFilger 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A65]
|
|
ParameterName=Velocity RefGain 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A66]
|
|
ParameterName=Velocity P Gain 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A67]
|
|
ParameterName=Velocity I Gain 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A68]
|
|
ParameterName=PID Filter 2
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A69]
|
|
ParameterName=PID Switch
|
|
ObjectType=0x9
|
|
SubNumber=7
|
|
|
|
[2A69sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=6
|
|
PDOMapping=0
|
|
|
|
[2A69sub1]
|
|
ParameterName=Switch Mode
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A69sub2]
|
|
ParameterName=Switch Pos Condition
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A69sub3]
|
|
ParameterName=Switch Vel Condition
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A69sub4]
|
|
ParameterName=Switch Torque Condition
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A69sub5]
|
|
ParameterName=Switch Condition Delay
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A69sub6]
|
|
ParameterName=Switch Time
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A80]
|
|
ParameterName=Pos Phase Compensation
|
|
ObjectType=0x9
|
|
SubNumber=6
|
|
|
|
[2A80sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=5
|
|
PDOMapping=0
|
|
|
|
[2A80sub1]
|
|
ParameterName=Phase NotchFreq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A80sub2]
|
|
ParameterName=Phase NotchBW
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A80sub3]
|
|
ParameterName=Phase ResFreq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A80sub4]
|
|
ParameterName=Phase ResBW
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A80sub5]
|
|
ParameterName=Phase Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A81]
|
|
ParameterName=Pos Notch Filter
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[2A81sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2A81sub1]
|
|
ParameterName=Notch Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A81sub2]
|
|
ParameterName=Notch Freq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A81sub3]
|
|
ParameterName=Notch DeadBand
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A81sub4]
|
|
ParameterName=Notch Ampt
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A82]
|
|
ParameterName=Vel Phase Compensation
|
|
ObjectType=0x9
|
|
SubNumber=6
|
|
|
|
[2A82sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=5
|
|
PDOMapping=0
|
|
|
|
[2A82sub1]
|
|
ParameterName=Phase NotchFreq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A82sub2]
|
|
ParameterName=Phase NotchBW
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A82sub3]
|
|
ParameterName=Phase ResFreq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A82sub4]
|
|
ParameterName=Phase ResBW
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A82sub5]
|
|
ParameterName=Phase Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A83]
|
|
ParameterName=Vel Notch Filter
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[2A83sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2A83sub1]
|
|
ParameterName=Notch Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A83sub2]
|
|
ParameterName=Notch Freq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A83sub3]
|
|
ParameterName=Notch DeadBand
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A83sub4]
|
|
ParameterName=Notch Ampt
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A84]
|
|
ParameterName=Torque Phase Compensation
|
|
ObjectType=0x9
|
|
SubNumber=6
|
|
|
|
[2A84sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=5
|
|
PDOMapping=0
|
|
|
|
[2A84sub1]
|
|
ParameterName=Phase NotchFreq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A84sub2]
|
|
ParameterName=Phase NotchBW
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A84sub3]
|
|
ParameterName=Phase ResFreq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A84sub4]
|
|
ParameterName=Phase ResBW
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A84sub5]
|
|
ParameterName=Phase Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A85]
|
|
ParameterName=Torque Notch Filter 0
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[2A85sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2A85sub1]
|
|
ParameterName=Notch Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A85sub2]
|
|
ParameterName=Notch Freq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A85sub3]
|
|
ParameterName=Notch DeadBand
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A85sub4]
|
|
ParameterName=Phase Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A86]
|
|
ParameterName=Torque Notch Filter 1
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[2A86sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2A86sub1]
|
|
ParameterName=Notch Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A86sub2]
|
|
ParameterName=Notch Freq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A86sub3]
|
|
ParameterName=Notch DeadBand
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A86sub4]
|
|
ParameterName=Phase Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A87]
|
|
ParameterName=Torque Notch Filter 2
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[2A87sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2A87sub1]
|
|
ParameterName=Notch Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A87sub2]
|
|
ParameterName=Notch Freq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A87sub3]
|
|
ParameterName=Notch DeadBand
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A87sub4]
|
|
ParameterName=Phase Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A88]
|
|
ParameterName=Torque Notch Filter 3
|
|
ObjectType=0x9
|
|
SubNumber=5
|
|
|
|
[2A88sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=4
|
|
PDOMapping=0
|
|
|
|
[2A88sub1]
|
|
ParameterName=Notch Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A88sub2]
|
|
ParameterName=Notch Freq
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A88sub3]
|
|
ParameterName=Notch DeadBand
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A88sub4]
|
|
ParameterName=Phase Switch
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A90]
|
|
ParameterName=Steps Per Rev
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A91]
|
|
ParameterName=Input Noise Filter
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A94]
|
|
ParameterName=Encoder Simulator Output Configure
|
|
ObjectType=0x9
|
|
SubNumber=6
|
|
|
|
[2A94sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=5
|
|
PDOMapping=0
|
|
|
|
[2A94sub1]
|
|
ParameterName=Output Mode
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A94sub2]
|
|
ParameterName=Output Pulse NUM
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A94sub3]
|
|
ParameterName=Output Pulse DEN
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A94sub4]
|
|
ParameterName=AB QuadPhase Lead
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A94sub5]
|
|
ParameterName=Z Phase Polarity
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A9A]
|
|
ParameterName=Motor Abs encoder
|
|
ObjectType=0x9
|
|
SubNumber=8
|
|
|
|
[2A9Asub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=7
|
|
PDOMapping=0
|
|
|
|
[2A9Asub1]
|
|
ParameterName=IsConnected
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Asub2]
|
|
ParameterName=acMotorName
|
|
ObjectType=0x8
|
|
DataType=0x0002
|
|
AccessType=ro
|
|
|
|
[2A9Asub3]
|
|
ParameterName=Motor SN
|
|
ObjectType=0x8
|
|
DataType=0x0002
|
|
AccessType=ro
|
|
|
|
[2A9Asub4]
|
|
ParameterName=Rated Current
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Asub5]
|
|
ParameterName=Rated Torque
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Asub6]
|
|
ParameterName=Rated Speed
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Asub7]
|
|
ParameterName=Reserved
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9B]
|
|
ParameterName=Motor Inc encoder
|
|
ObjectType=0x9
|
|
SubNumber=8
|
|
|
|
[2A9Bsub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=7
|
|
PDOMapping=0
|
|
|
|
[2A9Bsub1]
|
|
ParameterName=IsConnected
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Bsub2]
|
|
ParameterName=Motor Model
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Bsub3]
|
|
ParameterName=Motor SN
|
|
ObjectType=0x8
|
|
DataType=0x0002
|
|
AccessType=ro
|
|
|
|
[2A9Bsub4]
|
|
ParameterName=Rated Current
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Bsub5]
|
|
ParameterName=Rated Torque
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Bsub6]
|
|
ParameterName=Motor Inertia
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Bsub7]
|
|
ParameterName=Rated Speed
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9C]
|
|
ParameterName=Abs encoder
|
|
ObjectType=0x9
|
|
SubNumber=6
|
|
|
|
[2A9Csub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=5
|
|
PDOMapping=0
|
|
|
|
[2A9Csub1]
|
|
ParameterName=Usage Type
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2A9Csub2]
|
|
ParameterName=Encoder ErrCode
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Csub3]
|
|
ParameterName=Encoder Temp
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Csub4]
|
|
ParameterName=Encoder Mode
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2A9Csub5]
|
|
ParameterName=Clear MultiTurn
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2AA0]
|
|
ParameterName=Actual Current
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2AA1]
|
|
ParameterName=Torque Constant
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=0
|
|
|
|
[2AA2]
|
|
ParameterName=Steps Position
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=ro
|
|
PDOMapping=1
|
|
|
|
[2AA3]
|
|
ParameterName=Snd Encoder Position
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=ro
|
|
PDOMapping=1
|
|
|
|
[2AB0]
|
|
ParameterName=Virtual Inputs
|
|
ObjectType=0x9
|
|
SubNumber=3
|
|
|
|
[2AB0sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=2
|
|
PDOMapping=0
|
|
|
|
[2AB0sub1]
|
|
ParameterName=Virtual Inputs
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AB0sub2]
|
|
ParameterName=Bit Mask
|
|
ObjectType=0x7
|
|
DataType=0x0006
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AB1]
|
|
ParameterName=Dyanmic Brake Config
|
|
ObjectType=0x9
|
|
SubNumber=6
|
|
|
|
[2AB1sub0]
|
|
ParameterName=highest sub-index supported
|
|
ObjectType=0x7
|
|
DataType=0x0005
|
|
AccessType=ro
|
|
DefaultValue=5
|
|
PDOMapping=0
|
|
|
|
[2AB1sub1]
|
|
ParameterName=Brake Mode Disable
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AB1sub2]
|
|
ParameterName=Max Decel Time Disable
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AB1sub3]
|
|
ParameterName=Brake Mode Fault
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AB1sub4]
|
|
ParameterName=Max Decel Time Fault
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AB1sub5]
|
|
ParameterName=DB_ActiveVel
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AC0]
|
|
ParameterName=Sub Alarm Code
|
|
ObjectType=0x7
|
|
DataType=0x0007
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AC1]
|
|
ParameterName=Current Ramp Max
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AC2]
|
|
ParameterName=Phase Lost Detect
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AC3]
|
|
ParameterName=Velocity Feedback Filter
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|
|
|
|
[2AC4]
|
|
ParameterName=Self Adapting Switch
|
|
ObjectType=0x7
|
|
DataType=0x0004
|
|
AccessType=rw
|
|
PDOMapping=0
|