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CAN Objects 6000 - 6FFF S300-S700

Index Subindex Data Type Access PDO mappable Description ASCII
6040h 0 UNSIGNED16 w yes control word
6041h 0 UNSIGNED16 ro yes status word
6060h 0 INTEGER8 rw yes Modes of Operation
6061h 0 INTEGER8 ro yes Modes of Operation Display
6063h 0 INTEGER32 ro yes Position actual value (increments)
6064h 0 INTEGER32 ro yes Position actual value (position units) PFB
6065h 0 UNSIGNED32 rw Following error window PEMAX
6067h 0 UNSIGNED32 rw Position window PEINPOS
6068h 0 UNSIGNED16 rw Position window time INPT1
606Ch 0 INTEGER32 ro yes Velocity actual value
6071h 0 INTEGER16 rw yes Target torque
6073h 0 UNSIGNED16 rw - Max current MIPEAK
6077h 0 INTEGER16 ro yes Torque actual value
607Ah 0 INTEGER32 rw yes Target position O_P
607Ch 0 INTEGER32 rw Reference offset ROFFS
607Dh         Software position limit  
607Dh 0 UNSIGNED8 ro - Number of entries  
607Dh 1 INTEGER32 rw - Software position limit 1 SWE1
607Dh 2 INTEGER32 rw - Software position limit 2 SWE2
607Fh 0 UNSIGNED32 rw Max profile velocity PVMAX
6080h 0 UNSIGNED32 rw Max motor speed VLIM
6081h 0 UNSIGNED32 rw yes Profile Velocity O_V
6083h 0 UNSIGNED32 rw yes Profile Acceleration O_ACC (pp) / ACC (pv)
6084h 0 UNSIGNED32 rw yes Profile Deceleration O_DEC (pp) / DEC (pv)
6085h 0 UNSIGNED32 rw Quick stop deceleration DECSTOP
6086h 0 INTEGER16 Rww yes Motion profile type O_C
6089h 0 INTEGER8 rw Position Notation index
608Ah 0 UNSIGNED8 rw Position Dimension index
608Bh 0 INTEGER8 rw Velocity Notation index
608Ch 0 UNSIGNED8 rw Velocity Dimension index
608Dh 0 INTEGER8 rw Acceleration Notation index
608Eh 0 UNSIGNED8 rw Acceleration Dimension index
608Fh   ARRAY     Position encoder resolution
608Fh 0 UNSIGNED8 ro Number of entries
608Fh 1 UNSIGNED32 rw Encoder increments PGEARO
608Fh 2 UNSIGNED32 rw Motor revolutions BUSP7
6090h   ARRAY     Velocity encoder resolution
6090h 0 UNSIGNED8 ro Number of entries
6090h 1 UNSIGNED32 rw Encoder increments per second
6090h 2 UNSIGNED32 rw Motor revolutions per second
6091h   ARRAY     Gear ratio
6091h 0 UNSIGNED8 ro Number of entries
6091h 1 UNSIGNED32 rw Motor revolutions
6091h 2 UNSIGNED32 rw Shaft revolutions
6092h   ARRAY     Feed constant
6092h 0 UNSIGNED8 ro Number of entries
6092h 1 UNSIGNED32 rw Feed PGEARI
6092h 2 UNSIGNED32 rw Shaft revolutions
6093h   ARRAY     Position factor
6093h 0 UNSIGNED8 ro Number of entries
6093h 1 UNSIGNED32 rw Numerator
6093h 2 UNSIGNED32 rw Feed constant
6094h   ARRAY     Velocity encoder factor
6094h 0 UNSIGNED8 ro Number of entries
6094h 1 UNSIGNED32 ro Numerator
6094h 2 UNSIGNED32 ro Denumerator
6097h   ARRAY     Acceleration factor
6097h 0 UNSIGNED8 ro   Number of entries
6097h 1 UNSIGNED32 rw Numerator
6097h 2 UNSIGNED32 rw Denumerator
6098h 0 INTEGER8 rw Homing type NREF, DREF
6099h   ARRAY     Homing velocity
6099h 0 UNSIGNED8 ro Number of entries
6099h 1 UNSIGNED32 rw Speed while searching for limit switch VREF
6099h 2 UNSIGNED32 rw Speed while searching for zero mark VREF0
609Ah 0 UNSIGNED32 rw Homing acceleration ACCR, DECR
60C0h 0 INTEGER8 rw Interpolation submode select
60C1h   ARRAY     Interpolation data record
60C1h 0 UNSIGNED8 ro Number of entries
60C1h 1 INTEGER32 rw yes x1, first parameter of ip function
60C2h   RECORD     Interpolation time period
60C2h 0 UNSIGNED8 ro Number of entries PTBASE
60C2h 1 UNSIGNED8 rw Interpolation time units
60C2h 2 INTEGER16 rw Interpolation time index
60C3h   ARRAY     Interpolation sync definition
60C3h 0 UNSIGNED8 ro Number of entries
60C3h 1 UNSIGNED8 rw Synchronize on group
60C3h 2 UNSIGNED8 rw ip sync every n event
60C4h   RECORD     Interpolation data configuration
60C4h 0 UNSIGNED8 ro Number of entries
60C4h 1 UNSIGNED32 ro Maximum buffer size
60C4h 2 UNSIGNED32 rw Actual buffer size
60C4h 3 UNSIGNED8 rw Buffer organization
60C4h 4 UNSIGNED16 rw Buffer position
60C4h 5 UNSIGNED8 w Siza of data record
60C5h 0 UNSIGNED32 rw Max acceleration /deceleration
60C4h 6 UNSIGNED8 w Buffer clear
60F4h 0 INTEGER32 ro yes Following error actual value PE
60FDh 0 UNSIGNED32 ro yes Digital inputs IN1 .. IN4
60FFh 0 INTEGER32 rw yes Target velocity J
6502h 0 UNSIGNED32 ro Supported drive modes