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CAN Objects 6000 - 6FFF S400-S600

Index Subindex Profile Data Type Access PDO mappable Description ASCII Object
6040h 00h DS402 INTEGER16 wo yes DS402 control word
6041h 00h DS402 INTEGER16 ro yes DS402 Status
605Ah   DS402 INTEGER16 rw Quick Stop option code
6060h 00h DS402 INTEGER8 wo yes Mode of Operation
6061h 00h DS402 INTEGER8 ro yes Display Mode of Operation
6063h 00h DS402 INTEGER32 ro yes Incr. actual position
6064h 00h DS402 INTEGER32 ro yes Actual position (taking account of gearing factors)
606Ch 00h DS402 INTEGER32 ro yes Actual speed (mode: pv)
6077h 00h DS402 INTEGER16 ro yes Torque actual value IQ
607Ah 00h DS402 INTEGER32 rww yes Target position (mode: pp)
607Bh 00h DS402 ARRAY ro position_range_limit
607Bh 01h DS402 INTEGER32 rw min_position_range_limit
607Bh 02h DS402 INTEGER32 rw max_position_range_limit
607Ch 00h DS402 INTEGER32 rww yes Reference offset
6081h 00h DS402 UNSIGNED32 rww yes Velocity (Mode: pp)
6083h 00h DS402 UNSIGNED32 rww yes Acceleration (Mode: pp pv)
6084h 00h DS402 UNSIGNED32 rww yes Deceleration (Mode: pp pv)
6086h 00h DS402 INTEGER16 rww yes Type of motion block ramp (motion_profile_type)
6089h 00h DS402 INTEGER8 rw Notation index: position (not supported)
608Ah 00h DS402 UNSIGNED8 rw Dimension index: position (not supported)
608Bh 00h DS402 INTEGER8 rw Notation index: speed (not supported)
608Ch 00h DS402 UNSIGNED8 rw Dimension index: speed (not supported)
608Dh 00h DS402 INTEGER8 rw Notation index: acceleration (not supported)
608Eh 00h DS402 UNSIGNED8 rw Dimension index: acceleration (not supported)
6093h 00h DS402 UNSIGNED32 rw Position factor
6093h 01h DS402 UNSIGNED32 rww yes Numerator PGEARO
6093h 02h DS402 UNSIGNED32 rww yes feed_constant PGEARI
6094h 00h DS402 UNSIGNED32 rw Velocity factor: encoder
6094h 01h DS402 UNSIGNED32 rw Numerator
6094h 02h DS402 UNSIGNED32 rw Divisor
6097h 00h DS402 UNSIGNED32 rw Acceleration factor
6097h 01h DS402 UNSIGNED32 rw Divisor
6097h 02h DS402 UNSIGNED32 rw Acceleration factor
6098h 00h DS402 INTEGER8 rww yes Homing type
6099h 00h DS402 ARRAY ro Homing velocity
6099h 01h DS402 INTEGER32 rw yes Homing velocity (homing to references switch) VREF
6099h 02h DS402 INTEGER32 ro yes Homing velocity (homing to resolver zero mark) VREF
609Ah 00h DS402 UNSIGNED32 rw yes Homing acceleration
60C2h 00h DS402 RECORD ro Interpolation time period PTBASE
60C2h 01h DS402 UNSIGNED8 rw Interpolation time units
60C2h 02h DS402 INTEGER16 rw Interpolation time index
60FFh 00h DS402 INTEGER32 rw yes Speed setpoint