CiA 301 object dictionary

Index (hex)

Sub-Index (hex)

Description

Data type

PDO mappable

Access

NVM

Default value

1000

0

Device type

UINT32

N

RO

N

0x00020192

1001

0

Error register

UINT8

N

RO

N

0x00

1003

-

Pre-defined Error Field

ARRAY

-

-

-

-

1003

0

Number of entries

UINT8

N

RW

N

0x00

1003

1

Standard error field

UINT32

N

RO

N

0x00000000

1003

2

Standard error field

UINT32

N

RO

N

0x00000000

1003

3

Standard error field

UINT32

N

RO

N

0x00000000

1003

4

Standard error field

UINT32

N

RO

N

0x00000000

1005

0

COB-ID SYNC

UINT32

N

RW

N

0x80

1006

0

Communication Cycle period

UINT32

N

RW

N

0x00000000

1007

0

Sync window length

UINT32

N

RW

N

0x00000000

1008

0

Device name

STR

N

CONST

N

emcl

1009

0

Hardware version

STR

N

CONST

N

See PCB

100A

0

Software version

STR

N

CONST

N

1.0

100C

0

Guard time

UINT16

N

RW

N

0x0000

100D

0

Life Time Factor

UINT8

N

RW

N

0x00

1010

-

Store parameters

ARRAY

-

-

-

-

1010

0

Number of entries

UINT8

N

CONST

N

3

1010

1

Save all parameters

UINT32

N

RW

N

1

1010

2

Save communication parameters

UINT32

N

RW

N

1

1010

3

Save application parameters

UINT32

N

RW

N

1

1011

-

Restore default parameters

ARRAY

-

-

-

-

1011

0

Number of entries

UINT8

N

CONST

N

3

1011

1

Restore all parameters

UINT32

N

RW

N

1

1011

1

Restore communication parameters

UINT32

N

RW

N

1

1011

1

Restore application parameters

UINT32

N

RW

N

1

1014

0

COB-ID Emergency message

UINT32

N

RW

Y

0x000000A0

1017

0

Producer heartbeat time

UINT16

N

RW

Y

0x0000

1018

-

Identity object

RECORD

-

-

-

-

1018

0

Number of entries

UINT8

N

CONST

N

4

1018

1

Vendor-ID

UINT32

N

RO

N

0x0000029C

1018

2

Product code

UINT32

N

RO

N

0x00000019

1018

3

Revision number

UINT32

N

RO

N

0x00000000

1018

4

Serial number

UINT32

N

RO

N

-

1200

-

SSDO

-

N

RO

N

-

1400

-

RPDO1

-

N

RW

Y

-

1401

-

RPDO2

-

N

RW

Y

-

1402

-

RPDO3

-

N

RW

Y

-

1403

-

RPDO4

-

N

RW

Y

-

1600

-

RPDO 1 mapping parameter

-

N

RW

Y

-

1601

-

RPDO 2 mapping parameter

-

N

RW

Y

-

1602

-

RPDO 3 mapping parameter

-

N

RW

Y

-

1603

-

RPDO 4 mapping parameter

-

N

RW

Y

-

1800

-

TPDO 1

-

N

RW

Y

-

1801

-

TPDO 2

-

N

RW

Y

-

1802

-

TPDO 3

-

N

RW

Y

-

1803

-

TPDO 4

-

N

RW

Y

-

1A00

-

TPDO 1 mapping parameter

-

N

RW

Y

-

1A01

-

TPDO 2 mapping parameter

-

N

RW

Y

-

1A02

-

TPDO 3 mapping parameter

 

N

RW

Y

-

1A03

-

TPDO 4 mapping parameter

 

N

RW

Y

-

CiA 402 object dictionary

Index (hex)

Sub-Index (hex)

Description

Data type

PDO mappable

Access

NVM

Default value

603F

0

Error code

UINT16

Y

RO

N

0x0000

6040

0

Controlword

UINT16

Y

RW

N

0x0000

6041

0

Statusword

UINT16

Y

RO

N

-

6042

0

vl target velocity

INT16

Y

RW

N

0x0000

6043

0

vl velocity demand

INT16

Y

RO

N

-

6044

0

vl velocity actual value

INT16

Y

RO

N

-

6046

-

vl velocity min max amount

ARRAY

-

-

-

-

6046

0

Highest sub-index supported

UINT8

N

CONST

N

2

6046

1

vl velocity min amount

UINT32

N

RW

Y

100

6046

2

vl velocity max amount

UINT32

N

RW

Y

1500

6048

-

vl velocity acceleration

RECORD

-

-

-

-

6048

0

Highest sub-index supported

UINT8

N

CONST

N

2

6048

1

Delta speed

UINT32

N

RW

Y

1000

6048

2

Delta time

UINT16

N

RW

Y

1

6049

-

vl velocity deceleration

RECORD

-

-

-

-

6049

0

Highest sub-index supported

UINT8

N

CONST

N

2

6049

1

Delta speed

UINT32

N

RW

Y

1000

6049

2

Delta time

UINT16

N

RW

Y

1

6060

0

Modes of operation

INT8

Y

RW

Y

1

6061

0

Modes of operation display

INT8

Y

RO

N

-

6062

0

Position demand value

INT32

Y

RO

N

-

6063

0

Position actual internal value

INT32

Y

RO

N

-

6064

0

Position actual value

INT32

Y

RO

N

-

6065

0

Following error window

UINT32

Y

RW

Y

0xFFFFFFFF

6066

0

Following error timeout

UINT16

Y

RW

Y

100

6067

0

Position window

UINT32

Y

RW

Y

100

6068

0

Position window time

UINT16

Y

RW

Y

10

60690Velocity sensor actual valueINT32YRON0

606B

0

Velocity demand value

INT32

Y

RO

N

-

606C

0

Velocity actual value

INT32

Y

RO

N

-

606D

0

Velocity window

UINT16

Y

RW

Y

1000

606E

0

Velocity window time

UINT16

Y

RW

Y

10

606F

0

Velocity threshold

UINT16

Y

RW

Y

1000

6070

0

Velocity threshold time

UINT16

Y

RW

Y

100

6071

0

Target torque

INT16

Y

RW

N

0

6072

0

Max torque

UINT16

Y

RW

Y

1000

6073

0

Max current

UINT16

Y

RW

Y

1000

6074

0

Torque demand

INT16

Y

RO

N

-

6075

0

Motor rated current

UINT32

Y

RW

Y

3000

6076

0

Motor rated torque

UINT32

Y

RW

Y

310

6077

0

Torque actual value

INT16

Y

RO

N

-

6078

0

Current actual value

INT16

Y

RO

N

-

60790DC link circuit voltageUINT32YRON0

607A

0

Target position

INT32

Y

RW

N

0

607C

0

Home offset

INT32

N

RW

Y

0

607D

-

Software position limit

ARRAY

-

-

-

-

607D

0

Number of entries

UINT8

N

CONST

N

2

607D

1

Min position limit

INT32

Y

RW

Y

0x80000000

607D

2

Max position limit

INT32

Y

RW

Y

0x7FFFFFFF

607E

0

Polarity

UINT8

Y

RW

Y

0

607F

0

Max profile velocity

UINT32

Y

RW

Y

200000

6080

0

Max motor speed

UINT32

Y

RW

Y

100000

6081

0

Profile velocity

UINT32

Y

RW

Y

100000

6083

0

Profile acceleration

UINT32

Y

RW

Y

100000

6084

0

Profile deceleration

UINT32

Y

RW

Y

100000

6085

0

Quick stop deceleration

UINT32

Y

RW

Y

200000

6086

0

Motion profile type

INT16

Y

RW

Y

0

6087

0

Torque slope

UINT32

Y

RW

Y

10000

6088

0

Torque profile type

INT16

Y

RW

Y

0

608F

-

Position encoder resolution

ARRAY

-

-

-

-

608F

0

Number of entries

UINT8

N

CONST

N

2

608F

1

Encoder increments

UINT32

Y

RW

Y

2000

608F

2

Motor revolutions

UINT32

Y

RW

Y

1

6090-Velocity encoder resolutionARRAY----
60900Number of entriesUINT8NCONSTN2
60901Encoder incrementsUINT32YRWY2000
60902Motor revolutionsUINT32YRWY1
6091-Gear ratioARRAY----
60910Number of entriesUINT8NCONSTN2
60911Motor shaft revolutionsUINT32NRWY1
60912Driving shaft revolutionsUINT32NRWY1
6092-Feed constantARRAY----
60920Number of entriesUINT8NCONSTN2
60921FeedUINT32NRWY1
60922Shaft revolutionsUINT32NRWY1

6098

0

Homing method

INT8

N

RW

Y

35

6099

-

Homing speeds

ARRAY

-

-

-

-

6099

0

Number of entries

UINT8

N

CONST

N

2

6099

1

Speed for switch search

UINT32

N

RW

Y

50000

6099

2

Speed for zero search

UINT32

N

RW

Y

5000

609A

0

Homing acceleration

UINT32

N

RW

Y

100000

60A80SI unit positionUINT32NRWY11862016
60A90SI unit velocityUINT32NRWY11862784
60AA0SI unit accelerationUINT32NRWY11884288

60B2

0

Torque offset

INT16

Y

RW

Y

0

60C1

-

Interpolation data record

ARRAY

-

-

-

-

60C1

0

Highest sub-index supported

UINT8

N

CONST

N

1

60C1

1

Interpolation 1st Set-point

INT32

T

RW

N

0

60C2

-

Interpolation time period

RECORD

-

-

-

-

60C2

0

Highest sub-index supported

UINT8

N

CONST

N

2

60C2

1

Interpolation time period value

UINT8

N

RW

N

0

60C2

2

Interpolation time index

INT8

N

RW

N

-3

60C4

-

Interpolation data configuration

RECORD

-

-

-

-

60C4

0

Highest sub-index supported

UINT8

N

CONST

N

6

60C4

1

Maximum buffer size

UINT32

N

RO

N

16

60C4

2

Actual buffer size

UINT32

N

RW

N

16

60C4

3

Buffer organization

UINT8

N

RW

N

0

60C4

4

Buffer position

UINT16

N

RW

N

0

60C4

5

Size of data record

UINT8

N

WO

N

-

60C4

6

Buffer clear

UINT8

N

WO

N

-

60C5

0

Max acceleration

UINT32

Y

RW

Y

200000

60C6

0

Max deceleration

UINT32

Y

RW

Y

200000

60E0

0

Positive torque limit value

INT16

Y

RW

Y

1000

60E1

0

Negative torque limit value

INT16

Y

RW

Y

-1000

60F4

0

Following error actual value

INT32

Y

RO

N

-

60FA

0

Control effort

INT32

Y

RO

N

-

60FC

0

Position demand internal value

INT32

Y

RO

N

-

60FD

0

Digital inputs

UINT32

Y

RO

N

-

60FE

-

Digital outputs

ARRAY

-

-

-

-

60FE

0

Number of entries

UINT8

N

CONST

N

2

60FE

1

Physical outputs

UINT32

N

RW

Y

0x00000000

60FE

2

Bit mask

UINT32

N

RW

Y

0x0000000

60FF

0

Target velocity

INT32

Y

RW

Y

0

6402

0

Motor type

UINT16

Y

RW

Y

10

6502

0

Supported drive modes

UINT32

Y

CONST

N

0x300EF

6505

0

Http drive catalog address

STRING

N

CONST

N

-

Manufacturer specific object dictionary

Index (hex)

Sub-Index (hex)

Description

Data type

PDO mappable

Access

NVM

Default value

2000

-

Uart configuration

ARRAY

-

-

-

-

2000

0

Number of entries

UINT8

N

CONST

N

5

2000

1

Node ID

UINT8

N

RW

Y

32

2000

2

Baudrate

UINT8

N

RW

Y

0

2000

3

Daisy chain mode

UINT8

N

RW

Y

0

2000

4

Base format

UINT8

N

RW

Y

0

2000

5

Statusword mode

UINT8

N

RW

Y

1

20006CRC enableUINT8NRWY0
20007Lifeguard messageUINT8NRWY0

20C2

-

Driver temperature

ARRAY

-

-

-

-

20C2

0

Number of entries

UINT8

N

CONST

N

3

20C2

1

Actual temperature

INT32

Y

RO

N

-

20C2

2

Max user temperature

INT32

N

RW

Y

72000

20C2

3

Min user temperature

INT32

N

RW

Y

-20000

2101

-

Bus voltage

ARRAY

-

-

-

-

2101

0

Number of entries

UINT8

N

CONST

N

3

2101

1

DC link circuit voltage

UINT32

Y

RO

N

-

2101

2

Max user voltage

UINT32

N

RW

Y

60000

2101

3

Min user voltage

UINT32

N

RW

Y

12000

2102

-

Homing extra parameters

ARRAY

-

-

-

-

2102

0

Number of entries

UINT8

N

CONST

N

2

2102

1

Total homing timeout

UINT16

N

RW

Y

8000

2102

2

Torque limit

UINT16

N

RW

Y

200

2103

-

Shunt configuration

RECORD

-

-

-

-

2103

0

Number of entries

UINT8

N

CONST

N

3

2103

1

Available

UINT8

N

RW

Y

1

2103

2

Duty used

UINT16

N

RW

Y

1024

2103

3

Hysteresis

UINT8

N

RW

Y

5

2301

0

Motor pair poles

UINT8

N

RW

Y

4

2305

-

Commutation

RECORD

-

-

-

-

2305

0

Number of entries

UINT8

N

CONST

N

3

2305

1

Commutation sensor

UINT8

N

RW

Y

0

2305

2

Initial angle determination method

UINT8

N

RW

Y

0

2305

3

Actual system angle

UINT8

Y

RO

N

-

2306

-

Forced alignment method

RECORD

-

-

-

-

2306

0

Number of entries

UINT8

N

CONST

N

3

2306

1

Process time

UINT32

N

RW

Y

1000

2306

2

Process current

UINT32

N

RW

Y

500

2306

3

Process tolerance

UINT8

N

RW

Y

5

2307

-

Known alignment method

RECORD

-

-

-

-

2307

0

Number of entries

UINT8

N

CONST

N

1

2307

1

Initial rotor angle

UINT16

N

RW

Y

0

2308-Non-incremental alignmentRECORD----
23080Number of entries

UINT8

N

CONST

N

1

23081Offset from phase A UINT16NRWY0

2310

-

Feedbacks

ARRAY

-

-

-

-

2310

0

Number of entries

UINT8

N

CONST

N

3

2310

1

Torque sensor

UINT8

N

RW

Y

0

2310

2

Velocity sensor

UINT8

N

RW

Y

0

2310

3

Position sensor

UINT8

N

RW

Y

0

2311

0

Position encoder swap mode

UINT8

N

RW

Y

1

2312

0

Position encoder type

UINT8

N

RW

Y

2

2321

-

Digital halls

RECORD

-

-

-

-

2321

0

Number of entries

UINT8

N

CONST

N

3

2321

1

Polarity

UINT8

N

RW

Y

1

2321

2

Value

UINT8

Y

RO

N

-

2321

3

Halls step offset

UINT8

N

RW

Y

0

2340

-

Linear halls value

ARRAY

-

-

-

-

2340

0

Number of entries

UINT8

N

CONST

N

3

2340

1

Linear hall 1 value

INT16

Y

RW

N

-

2340

2

Linear hall 2 value

INT16

Y

RW

N

-

2340

3

Linear hall 3 value

INT16

Y

RW

N

-

2341

-

Linear hall offset

ARRAY

-

-

-

-

2341

0

Number of entries

UINT8

N

CONST

N

3

2341

1

Linear hall 1 offset

UINT16

N

RW

Y

0

2341

2

Linear hall 2 offset

UINT16

N

RW

Y

0

2341

3

Linear hall 3 offset

UINT16

N

RW

Y

0

2342

-

Linear hall gains

ARRAY

-

-

-

-

2342

0

Number of entries

UINT8

N

CONST

N

3

2342

1

Linear hall 1 gain

UINT16

N

RW

Y

0xFFFF

2342

2

Linear hall 2 gain

UINT16

N

RW

Y

0xFFFF

2342

3

Linear hall 3 gain

UINT16

N

RW

Y

0xFFFF

2343

-

Linear hall rotational

ARRAY

-

-

-

-

2343

0

Number of entries

UINT8

N

CONST

N

3

2343

1

Linear hall alpha

INT16

Y

RO

N

-

2343

2

Linear hall beta

INT16

Y

RO

N

-

2343

3

Linear hall zero

INT16

Y

RO

N

-

2344

0

Linear hall estimated angle

INT16

Y

RO

N

-

2350-SinCos valuesARRAY----
2350

0

Number of entries

UINT8

N

CONST

N

3

23501Sinus valueINT16YRON0
23502Cosinus valueINT16YRON0
23503Reference valueINT16YRON0
2351-SinCos offsetsARRAY----
2351

0

Number of entries

UINT8

N

CONST

N

3

23511Sinus offsetINT16YRON32767
23512Cosinus offsetINT16YRON32767
23513Reference offsetINT16YRON32767
2352-SinCos gainsARRAY----
2352

0

Number of entries

UINT8

N

CONST

N

3

23521Sinus gainUINT16NRWY0
23522Cosinus gainUINT16NRWY0
23523Reference gainUINT16NRWY0
23530SinCos estimated angleUINT16YRON0
23540SinCos multiplier factorINT16YRWY0
2360-SMO parametersRECORD----
23600

Number of entries

UINT8

N

CONST

N

7

23601Lock timeUINT16NRWY0
23602Open loop final speedUINT16NRWY500
23603Open loop currentUINT16NRWY500
23604Open loop timeUINT16NRWY500
23605Open-close transition enabledUINT8NRWY0
23606SMO GainUINT8NRWY25
23607SMO Linear zoneUINT8NRWY0
2361-SMO ResultsRECORD----
23610

Number of entries

UINT8

N

CONST

N

7

23611Estimated i-alphaINT16YRON0
23612Estimated i-betaINT16YRON0
23613Measured i-alphaINT16YRON0
23614Measured i-betaINT16YRON0
23615Estimated BEMF alphaINT16YRON0
23616Estimated BEMF betaINT16YRON0
23617Estimated thetaUINT16YRON0

2370

-

Resolver parameters

RECORD

-

-

-

-

2370

0

Number of entries

UINT8

N

CONST

N

1

2370

1

Resolver angle

UINT16

N

RO

N

-

2370

2

Resolver tolerance

UINT8

N

RW

Y

10

23D0

-

Analog input feedback

RECORD

-

-

-

-

23D0

0

Number of entries

UINT8

N

CONST

N

2

23D0

1

Analog input used

UINT8

N

RW

Y

3

23D1-Analog input feedback correctionRECORD----
23D10

Number of entries

UINT8

N

CONST

N

130

23D11 Correction enabledUINT8NRWY0
23D12Value 0INT32NRWY0
23D13Value 1INT32NRWY0
 .....................
23D1130Value 128INT32NRWY0

23F0

-

DC-Tachometer parameters

RECORD

-

-

-

-

23F0

0

Number of entries

UINT8

N

CONST

N

3

23F0

1

Voltage (mV) per 1000rpm

UINT16

N

RW

Y

520

23F0

2

Analog input used

UINT8

N

RW

Y

1

23F0

3

Analog input offset

UINT16

N

RW

Y

2048

2400

0

System polarity

UINT8

N

RW

Y

0

2430

0

Command reference source

UINT8

N

RW

Y

0

2431

0

Local/remote control

UINT8

N

RW

Y

0

2432

-

Electronic gearing cmd source

ARRAY

-

-

-

-

2432

0

Number of entries

UINT8

N

CONST

N

2

2432

1

Input gear

INT32

N

RW

Y

1

2432

2

Output gear

INT32

N

RW

Y

1

2433

-

Step and direction command source

ARRAY

-

-

-

-

2433

0

Number of entries

UINT8

N

CONST

N

1

2433

1

Step value

UINT32

N

RW

Y

1

2434

-

Analog input command source

RECORD

-

-

-

-

2434

0

Number of entries

UINT8

N

CONST

N

3

2434

1

Analog input used

UINT8

N

RW

Y

1

2434

2

Analog input offset

UINT16

N

RW

Y

2048

2434

3

Velocity deadband

UINT8

N

RW

Y

1

2435

-

PWM cmd source

RECORD

-

-

-

-

2435

0

Number of entries

UINT8

N

CONST

N

1

2435

1

Mode

UINT8

N

RW

Y

0

2436-Internal generator cmd sourceRECORD----
2436

0

Number of entries

UINT8

N

CONST

N

4

2436 1Function typeUINT8NRWN0
24362AmplitudeUINT16NRWY1000
24363Frequency (Hz)UINT8NRWY10
24364Digital output signalingUINT8NRWY0

2500

-

Position control parameter set

ARRAY

-

-

-

-

2500

0

Number of entries

UINT8

N

CONST

N

7

2500

1

Proportional constant

UINT32

N

RW

Y

1000

2500

2

Integral constant

UINT32

N

RW

Y

5

2500

3

Derivative constant

UINT32

N

RW

Y

40000

2500

4

Integral antiwindup constant

UINT32

N

RW

Y

0

2500

5

Velocity feedforward constant

UINT32

N

RW

Y

0

2500

6

Acceleration feedforward constant

UINT32

N

RW

Y

0

2500

7

Integral limit

UINT32

N

RW

Y

1

2501

-

Velocity control parameter set

ARRAY

-

-

-

-

2501

0

Number of entries

UINT8

N

CONST

N

6

2501

1

Proportional constant

UINT32

N

RW

Y

4000

2501

2

Integral constant

UINT32

N

RW

Y

50

2501

3

Derivative constant

UINT32

N

RW

Y

0

2501

4

Integral antiwindup constant

UINT32

N

RW

Y

100000

2501

5

Acceleration feedforward constant

UINT32

N

RW

Y

0

2501

6

Integral limit

UINT32

N

RW

Y

1

2502

-

Flux control parameter set

ARRAY

-

-

-

-

2502

0

Number of entries

UINT8

N

CONST

N

2

2502

1

Proportional constant

UINT16

N

RW

Y

3000

2502

2

Integral constant

UINT16

N

RW

Y

300

2503

-

Torque control parameter set

ARRAY

-

-

-

-

2503

0

Number of entries

UINT8

N

CONST

N

2

2503

1

Proportional constant

UINT16

N

RW

Y

3000

2503

2

Integral constant

UINT16

N

RW

Y

300

2504

-

Torque demand low pass filter

RECORD

-

-

-

-

2504

0

Number of entries

UINT8

N

CONST

N

2

2504

1

Filter enabled

UINT8

N

RW

Y

0

2504

2

Cutoff frequency

UINT16

N

RW

Y

100

2505-Torque actual low pass filterRECORD----
25050

Number of entries

UINT8

N

CONST

N

2

25051 Filter enabledUINT8NRWY0
25052Cutoff frequencyUINT16NRWY100
25060Max torque cte speedUINT16NRWY1000
2507-Control loops configurationARRAY----
25070

Number of entries

UINT8

N

CONST

N

5

25071Bypass torque loopUINT8NRWY0
25072Position feedback openloopUINT8NRWY0
25073Velocity feedback openloopUINT8NRWY0
25074Torque feedback openloopUINT8NRWY0
25075Velocity mode use Position loopUINT8NRWY0
25080Torque windowUINT16NRWY10
25090Torque window timeUINT16NRWY10

2600

-

Current readings

ARRAY

-

-

-

-

2600

0

Number of entries

UINT8

N

CONST

N

3

2600

1

Current phase A

INT16

Y

RO

N

-

2600

2

Current phase B

INT16

Y

RO

N

-

2600

3

Current phase C

INT16

Y

RO

N

-

2601

-

Current d-q

ARRAY

-

-

-

-

2601

0

Number of entries

UINT8

N

CONST

N

2

2601

1

Current direct

INT16

Y

RO

N

-

2601

2

Current quadrature

INT16

Y

RO

N

-

2700

-

Stepper parameters

RECORD

-

-

-

-

2700

0

Number of entries

UINT8

N

CONST

N

5

2700

1

Number of microsteps bits

UINT8

Y

RW

Y

2

2700

2

Run current

UINT16

N

RW

Y

400

2700

3

Standby current

UINT16

N

RW

Y

100

2700

4

Number of steps per revolution

UINT16

N

RW

Y

200

2700

5

Number of phases

UINT8

N

RW

Y

2

2701-Motor parametersRECORD----
2701

0

Number of entries

UINT8

N

CONST

N

6

27011Resistance phase-to-phaseUINT16NRWY800
27012Inductance phase-to-phaseUINT16NRWY120
27013Magnetic pole pitchUINT32NRWY1
27014Motor backemf constant - KvUINT32NRWY0
27015Stroke (um)UINT32NRWY0
27016Motor torque constant - KmUINT32NRWY0

2702

 

I2T parameters

RECORD

-

-

-

-

2702

0

Number of entries

UINT8

N

CONST

N

2

2702

1

Peak current

UINT16

N

RW

Y

1000

2702

2

Peak time

UINT16

N

RW

Y

1000

2A02

-

Digital inputs

RECORD

-

-

-

-

2A02

0

Number of entries

UINT8

N

CONST

N

1

2A02

1

Polarity

UINT16

N

RW

Y

0xFFFF

2A03

-

Analog inputs

ARRAY

-

-

-

-

2A03

0

Number of entries

UINT8

N

CONST

N

8

2A03

1

Analog input 1 value

UINT32

N

RO

N

-

2A03

2

Analog input 2 value

UINT32

N

RO

N

-

2A03

3

Analog input 3 value

UINT32

N

RO

N

-

2A03

4

Analog input 4 value

UINT32

N

RO

N

-

2A04

-

Analog output

ARRAY

-

-

-

-

2A04

0

Number of entries

UINT8

N

CONST

N

2

2A04

1

Analog output 1 value (11bits)

UINT32

N

RW

N

0

2A04

2

Analog output 2 value (16bits)

UINT32

N

RW

N

0

2A05

-

Brake options

RECORD

-

-

-

-

2A05

0

Number of entries

UINT8

N

CONST

N

4

2A05

1

Available

UINT8

N

RW

Y

1

2A05

2

Digital output used

UINT8

N

RW

Y

5

2A05

3

Delay before release brake

UINT16

N

RW

Y

0

2A05

4

Delay after enable brake

UINT16

N

RW

Y

0

2A06

-

Switches configuration

ARRAY

-

-

-

-

2A06

0

Number of entries

UINT8

N

CONST

N

3

2A06

1

Positive switch input

UINT8

N

RW

Y

0

2A06

2

Negative switch input

UINT8

N

RW

Y

0

2A06

3

Home switch input

UINT8

N

RW

Y

0

2A07

-

Enable / Disable input

RECORD

-

-

-

-

2A07

0

Number of entries

UINT8

N

CONST

N

1

2A07

1

Available

UINT8

N

RW

Y

0

2A08-Analog output automaticRECORD----
2A08

0

Number of entries

UINT8

N

CONST

N

4

2A081Mode enabledUINT8NRWY0
2A082Source registerINT32NRWY24692
2A083Destination outputUINT8NRWY1
2A084Max represented valueUINT32NRWY2147483647

2C00

 

General purpose registers

ARRAY

-

-

-

0

2C00

0

Number of entries

UINT8

N

CONST

N

100

2C00

1

Accumulator

INT32

N

RW

N

0

2C00

2

W2

INT32

N

RW

N

0

 

INT32

N

RW

N

0

2C00

64

W100

INT32

N

RW

N

0

2C01

-

Register commands

ARRAY

-

-

-

-

2C01

0

Number of entries

UINT8

N

CONST

N

23

2C01

1

Add constant to accumulator

INT32

N

WO

N

-

2C01

2

Accumulator divide constant

INT32

N

WO

N

-

2C01

3

Xor constant to accumulator

INT32

N

WO

N

-

2C01

4

Accumulator multiply constant

INT32

N

WO

N

-

2C01

5

And constant to accumulator

INT32

N

WO

N

-

2C01

6

Or constant to accumulator

INT32

N

WO

N

-

2C01

7

Subtract constant from accumulator

INT32

N

WO

N

-

2C01

8

Shift left accumulator by constant

INT32

N

WO

N

-

2C01

9

Shift right accumulator by constant

INT32

N

WO

N

-

2C01

A

Add register to accumulator

INT32

N

WO

N

-

2C01

B

Accumulator divide register

INT32

N

WO

N

-

2C01

C

Xor register to accumulator

INT32

N

WO

N

-

2C01

D

Accumulator multiply register

INT32

N

WO

N

-

2C01

E

And register to accumulator

INT32

N

WO

N

-

2C01

F

Or register to accumulator

INT32

N

WO

N

-

2C01

10

Subtract register from accumulator

INT32

N

WO

N

-

2C01

11

Shift left accumulator by register

INT32

N

WO

N

-

2C01

12

Shift right accumulator by register

INT32

N

WO

N

-

2C01

13

Absolute accumulator

INT32

N

WO

N

-

2C01

14

Accumulator complement

INT32

N

WO

N

-

2C01

15

Write accumulator to register

INT32

N

WO

N

-

2C01

16

Write register32 to accumulator

INT32

N

WO

N

-

2C01

17

Write register16 to accumulator

INT32

N

WO

N

-

2C02

-

Sequence commands

ARRAY

-

-

-

-

2C02

0

Number of entries

UINT8

N

CONST

N

23

2C02

1

Do if i/o is "Off"

INT32

N

WO

N

-

2C02

2

Do if i/o is "On"

INT32

N

WO

N

-

2C02

3

End program

INT32

N

WO

N

-

2C02

4

If accumulator is below

INT32

N

WO

N

-

2C02

5

If accumulator is higher

INT32

N

WO

N

-

2C02

6

If accumulator is equal

INT32

N

WO

N

-

2C02

7

If accumulator is unequal

INT32

N

WO

N

-

2C02

8

If i/o is "Off"

INT32

N

WO

N

-

2C02

9

If i/o is "On"

INT32

N

WO

N

-

2C02

A

If bit of accumulator is set

INT32

N

WO

N

-

2C02

B

If bit of accumulator is clear

INT32

N

WO

N

-

2C02

C

Repeat

INT32

N

WO

N

-

2C02

D

Wait (milliseconds) constant

INT32

N

WO

N

-

2C02

E

Wait for Index

INT32

N

WO

N

-

2C02

F

Wait for i/o to be "Off"

INT32

N

WO

N

-

2C02

10

Wait for i/o to be "On"

INT32

N

WO

N

-

2C02

11

If analog is below

INT32

N

WO

N

-

2C02

12

If analog is higher

INT32

N

WO

N

-

2C02

13

If accumulator is below register

INT32

N

WO

N

-

2C02

14

If accumulator is higher register

INT32

N

WO

N

-

2C02

15

If accumulator is equal register

INT32

N

WO

N

-

2C02

16

If accumulator is unequal register

INT32

N

WO

N

-

2C02

17

Wait (milliseconds) register

INT32

N

WO

N

-

2C03

-

Learned position

ARRAY

-

-

-

-

2C03

0

Number of entries

UINT8

N

CONST

N

3

2C03

1

Learn current position

UINT8

N

WO

N

-

2C03

2

Learn target position

UINT8

N

WO

N

-

2C03

3

Move index table position

UINT8

N

WO

N

-

2C04

-

Macro commands

ARRAY

-

-

-

-

2C04

0

Number of entries

UINT8

N

CONST

N

6

2C04

1

Macro call

INT32

N

WO

N

-

2C04

2

Return from macro call

INT32

N

WO

N

-

2C04

3

Macro jump

INT32

N

WO

N

-

2C04

4

Reset macros

INT32

N

WO

N

-

2C04

5

Jump absolute

INT32

N

WO

N

-

2C04

6

Jump relative

INT32

N

WO

N

-

2C047Macro call interrupt

INT32

N

WO

N

-

2C048Unpush  macro

INT32

N

WO

N

-

2C05

-

Macro access

RECORD

-

-

-

-

2C05

0

Number of entries

UINT8

N

CONST

N

3

2C05

1

Macro number

UINT8

N

RW

N

-

2C05

2

Macro command

UINT8

N

RW

N

-

2C05

3

Command

UINT64

N

RW

N

 

2C06

-

Timers access

ARRAY

-

-

-

-

2C06

0

Number of entries

UINT8

N

CONST

N

4

2C06

1

Timer 1 (count up) value

UINT32

N

RW

N

0

2C06

2

Timer 2 (count up) value

UINT32

N

RW

N

0

2C06

3

Timer 3 (count down) value

UINT32

N

RW

N

0

2C06

4

Timer 4 (count down) value

UINT32

N

RW

N

0

2C07

-

Interrupt vector

ARRAY

-

-

-

-

2C07

0

Number of entries

UINT8

N

CONST

N

12

2C07

1

Interrupt 1 vector

UINT8

N

RW

Y

0

2C07

2

Interrupt 2 vector

UINT8

N

RW

Y

0

2C07

3

Interrupt 3 vector

UINT8

N

RW

Y

0

2C07

4

Interrupt 4 vector

UINT8

N

RW

Y

0

2C07

5

Interrupt 5 vector

UINT8

N

RW

Y

0

2C07

6

Interrupt 6 vector

UINT8

N

RW

Y

0

2C07

7

Interrupt 7 vector

UINT8

N

RW

Y

0

2C07

8

Interrupt 8 vector

UINT8

N

RW

Y

0

2C07

9

Interrupt 9 vector

UINT8

N

RW

Y

0

2C07

A

Interrupt 10 vector

UINT8

N

RW

Y

0

2C07

B

Interrupt 11 vector

UINT8

N

RW

Y

0

2C07

C

Interrupt 12 vector

UINT8

N

RW

Y

0

2C08

-

Interrupt enable

ARRAY

-

-

-

-

2C08

0

Number of entries

UINT8

N

CONST

N

12

2C08

1

Interrupt 1 enable

UINT8

N

RW

Y

0

2C08

2

Interrupt 2 enable

UINT8

N

RW

Y

0

2C08

3

Interrupt 3 enable

UINT8

N

RW

Y

0

2C08

4

Interrupt 4 enable

UINT8

N

RW

Y

0

2C08

5

Interrupt 5 enable

UINT8

N

RW

Y

0

2C08

6

Interrupt 6 enable

UINT8

N

RW

Y

0

2C08

7

Interrupt 7 enable

UINT8

N

RW

Y

0

2C08

8

Interrupt 8 enable

UINT8

N

RW

Y

0

2C08

9

Interrupt 9 enable

UINT8

N

RW

Y

0

2C08

A

Interrupt 10 enable

UINT8

N

RW

Y

0

2C08

B

Interrupt 11 enable

UINT8

N

RW

Y

0

2C08

C

Interrupt 12 enable

UINT8

N

RW

Y

0

2C09

-

Pointer access

RECORD

-

-

-

-

2C09

0

Number of entries

UINT8

N

CONST

N

3

2C09

1

Pointer to register

INT32

N

RW

N

0

2C09

2

Content of register

INT32

N

RW

N

0

2C09

3

Write content to register

INT32

N

RW

N

0

2C0A

-

Macro debug

RECORD

-

-

-

-

2C0A

0

Number of entries

UINT8

N

CONST

N

3

2C0A

1

Actual macro number

UINT8

Y

RO

N

-

2C0A

2

Actual command number

UINT8

Y

RO

N

-

2C0A3Macro statusUINT8NRON-

2C50

-

Monitor config

RECORD

-

-

-

-

2C50

0

Number of entries

UINT8

N

CONST

N

2

2C50

1

Sampling rate

UINT16

N

RW

N

0

2C50

2

Enable mode

UINT8

N

RW

N

0

2C503Trigger Delay in samplesUINT32NRWY0

2C51

-

Monitor result

RECORD

-

-

-

-

2C51

0

Number of entries

UINT8

N

RO

N

7

2C51

1

Max entry number

UINT16

N

RO

N

250

2C51

2

Filled entry value

UINT8

N

RO

N

0

2C51

3

Entry number

UINT16

N

RW

N

0

2C51

4

Actual entry table 1

INT32

N

RO

N

0

2C51

5

Actual entry table 2

INT32

N

RO

N

0

2C51

6

Actual entry table 3

INT32

N

RO

N

0

2C51

7

Actual entry table 4

INT32

N

RO

N

0

2D00

-

Open loop parameters

RECORD

-

-

-

-

2D00

0

Number of entries

UINT8

N

RO

N

2

2D00

1

Target voltage

INT16

Y

RW

N

0

2D00

2

Target frequency

UINT16

Y

RW

N

0

2FF20EDS versionUINT16NCONSTN-

2FFD

0

Maximum current range

UINT8

N

RW

Y

2

2FFF

0

Reset device

UINT32

N

RW

N

-