#x0000060A ESTUN AUTOMATION TECHNOLOGY CO.,LTD ESTUN Drive ESTUN SERVO Drives ESTUN ESTUN ProNet Drive 402 UDINT 32 UINT 16 INT 16 SINT 8 USINT 8 DINT 32 STRING(7) 56 STRING(8) 64 STRING(20) 160 DT1003 272 0 Number of elements USINT 8 0 rw o 1 Standard error field1 UDINT 32 16 ro o 2 Standard error field2 UDINT 32 48 ro o 3 Standard error field3 UDINT 32 80 ro o 4 Standard error field4 UDINT 32 112 ro o 5 Standard error field5 UDINT 32 144 ro o 6 Standard error field6 UDINT 32 176 ro o 7 Standard error field7 UDINT 32 208 ro o 8 Standard error field8 UDINT 32 240 ro o DT1018 144 0 Number of elements USINT 8 0 ro o 1 Vendor Id UDINT 32 16 ro m 2 Product Code UDINT 32 48 ro o 3 Revision Number UDINT 32 80 ro o 4 Serial Number UDINT 32 112 ro o DT1600 272 0 Number of elements USINT 8 0 rw o 1 Output Object 1 UDINT 32 16 rw o 2 Output Object 2 UDINT 32 48 rw o 3 Output Object 3 UDINT 32 80 rw o 4 Output Object 4 UDINT 32 112 rw o 5 Output Object 5 UDINT 32 144 rw o 6 Output Object 6 UDINT 32 176 rw o 7 Output Object 7 UDINT 32 208 rw o 8 Output Object 8 UDINT 32 240 rw o DT1A00 272 0 Number of elements USINT 8 0 rw o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of used Sync Manager channels USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C10 16 0 Number of elements USINT 8 0 ro o DT1C12ARR UINT 32 1 2 DT1C12 48 0 Number of elements USINT 8 0 rw o Elements DT1C12ARR 32 16 rw o DT1C13ARR UINT 32 1 2 DT1C13 48 0 Number of elements USINT 8 0 rw o Elements DT1C13ARR 32 16 rw o DT1C32 64 0 Number of elements USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro o 2 Cycle time / ns UDINT 32 32 ro o DT2000 64 0 Number of elements USINT 8 0 rw o 1 Synchronization type UINT 16 16 rw o 2 Cycle time / ns UDINT 32 32 rw o DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 Elements DT607BARR 64 16 rw o DT6093ARR UDINT 64 1 2 DT6093 80 0 Number of entries USINT 8 0 Elements DT6093ARR 64 16 rw o DT6094ARR UDINT 64 1 2 DT6094 80 0 Number of entries USINT 8 0 Elements DT6094ARR 64 16 rw o DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 Elements DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 Elements DT6099ARR 64 16 rw o RT DT60c1ARR DINT 64 1 2 DT60c1 80 0 Number of entries USINT 8 0 ro o Elements DT60c1ARR 64 16 rw c RT DT60c2 24 0 Number of entries USINT 8 0 ro o 1 Interpolation time unit USINT 8 8 rw 2 Interpolation time index SINT 8 16 rw DT60feARR UDINT 64 1 2 DT60fe 80 0 Number of entries USINT 8 0 ro o Elements DT60feARR 64 16 rw o RT DT60a4ARR UDINT 32 1 1 DT60a4 48 0 Number of entries USINT 8 0 Elements DT60a4ARR 32 16 rw o RT #x1000 Device Type UDINT 32 00000000 ro m #x1001 Error Register USINT 8 00 rw m #x1003 Pre-defined error field DT1003 272 rw o #x1018 Identity DT1018 144 ro m #x1600 RxPDO 1 DT1600 272 rw o #x1601 RxPDO 2 DT1600 272 rw o #x1602 RxPDO 3 DT1600 272 rw o #x1603 RxPDO 4 DT1600 272 rw o #x1A00 TxPDO 1 DT1A00 272 rw o #x1A01 TxPDO 2 DT1A00 272 rw o #x1A02 TxPDO 3 DT1A00 272 rw o #x1A03 TxPDO 4 DT1A00 272 rw o #x1c00 Sync Man Communication type DT1C00 48 ro o #x1c12 Sync Man 2 Assignment DT1C12 48 rw o #x1c13 Sync Man 3 Assignment DT1C13 48 rw o #x1c32 Sync Man 2 Synchronization DT1C32 64 ro o #x1c33 Sync Man 3 Synchronization DT1C32 64 ro o #x3000 Pn000 UINT 16 rw o #x3001 Pn001 UINT 16 rw o #x3002 Pn002 UINT 16 rw o #x3003 Pn003 UINT 16 rw o #x3004 Pn004 UINT 16 rw o #x3005 Pn005 UINT 16 rw o #x3006 Pn006 UINT 16 rw o #x3010 Pn100 UINT 16 rw o #x3011 Pn101 UINT 16 rw o #x3012 Pn102 UINT 16 rw o #x3013 Pn103 UINT 16 rw o #x3014 Pn104 UINT 16 rw o #x3015 Pn105 UINT 16 rw o #x3016 Pn106 UINT 16 rw o #x3017 Pn107 UINT 16 rw o #x3018 Pn108 UINT 16 rw o #x3019 Pn109 UINT 16 rw o #x301A Pn110 UINT 16 rw o #x301B Pn111 UINT 16 rw o #x301C Pn112 UINT 16 rw o #x301D Pn113 UINT 16 rw o #x301E Pn114 UINT 16 rw o #x301F Pn115 UINT 16 rw o #x3020 Pn116 UINT 16 rw o #x3021 Pn117 UINT 16 rw o #x3022 Pn118 UINT 16 rw o #x3023 Pn119 UINT 16 rw o #x3024 Pn120 UINT 16 rw o #x3025 Pn121 UINT 16 rw o #x3026 Pn122 UINT 16 rw o #x3027 Pn123 UINT 16 rw o #x3028 Pn124 UINT 16 rw o #x3029 Pn125 UINT 16 rw o #x302A Pn126 UINT 16 rw o #x302B Pn127 UINT 16 rw o #x302C Pn128 UINT 16 rw o #x302D Pn129 UINT 16 rw o #x302E Pn130 UINT 16 rw o #x302F Pn131 UINT 16 rw o #x3030 Pn132 UINT 16 rw o #x3068 Pn401 UINT 16 rw o #x3069 Pn402 UINT 16 rw o #x306A Pn403 UINT 16 rw o #x306B Pn404 UINT 16 rw o #x306C Pn405 UINT 16 rw o #x306D Pn406 UINT 16 rw o #x306E Pn407 UINT 16 rw o #x306F Pn408 UINT 16 rw o #x3070 Pn409 UINT 16 rw o #x3071 Pn410 UINT 16 rw o #x3072 Pn411 UINT 16 rw o #x3073 Pn412 UINT 16 rw o #x3074 Pn413 UINT 16 rw o #x3075 Pn414 UINT 16 rw o #x307D Pn505 UINT 16 rw o #x307E Pn506 UINT 16 rw o #x307F Pn507 UINT 16 rw o #x3080 Pn508 UINT 16 rw o #x3081 Pn509 UINT 16 rw o #x3082 Pn510 UINT 16 rw o #x3083 Pn511 UINT 16 rw o #x3084 Pn512 UINT 16 rw o #x3085 Pn513 UINT 16 rw o #x3086 Pn514 UINT 16 rw o #x3088 Pn516 UINT 16 rw o #x3089 Pn517 UINT 16 rw o #x30FC Pn700 UINT 16 rw o #x30FD Pn701 UINT 16 rw o #x3100 Pn704 UINT 16 rw o #x3138 Pn840 UINT 16 rw o #x3300 Rotation UINT 16 ro o #x3301 Position UINT 16 ro o #x6007 Abort connection option code INT 16 rw o #x603F Error Code UINT 16 ro o RT #x6040 Controlword UINT 16 rw m RT #x6041 Statusword UINT 16 ro m RT #x605a Quick Stop option code INT 16 rw o #x605b Shutdown option code INT 16 rw o #x605c Disable operation option code INT 16 rw o #x605d Halt option code INT 16 rw o #x605e Fault reaction option code INT 16 rw o #x6060 Modes of operation SINT 8 rw o RT #x6061 Modes of operation display SINT 8 ro o RT #x6062 Position demand value DINT 32 ro o RT #x6063 Position actual value ( increments ) DINT 32 ro o RT #x6064 Position actual value ( units ) DINT 32 ro o RT #x6065 Following error window UDINT 32 rw o RT #x6066 Following error time out UINT 16 rw o RT #x6067 Position window UDINT 32 rw o RT #x6068 Position window time UINT 16 rw o RT #x6069 velocity sensor actual value DINT 32 ro o RT #x606B velocity demand value DINT 32 ro c RT #x606c Velocity actual value DINT 32 ro o RT #x606D Velocity window UINT 16 rw o RT #x606E Velocity window time UINT 16 rw o RT #x6070 Velocity threshold time UINT 16 rw o RT #x6077 Torque actual value INT 16 ro o RT #x6078 Current actual value INT 16 ro o RT #x607a Target position DINT 32 rw o RT #x607b Position range limit DT607B 80 Number of entries 02 rw c #x607c Home offset DINT 32 rw o RT #x607d Software Position Limit DT607B 80 Number of entries 02 ro c #x607e Polarity USINT 8 rw o #x6081 Profile velocity UDINT 32 rw c RT #x6082 End velocity UDINT 32 rw o RT #x6083 Profile acceleraion UDINT 32 rw o RT #x6084 Profile deceleration UDINT 32 rw o RT #x6085 Quick stop deceleration UDINT 32 rw o RT #x6086 Motion profile type INT 16 rw o RT #x6093 Position Factor DT6093 80 Number of entries 02 ro o #x6094 Velocity encoder factor DT6094 80 Number of entries 02 ro o #x6097 Acceleration Factor DT6097 80 Number of entries 02 ro o #x6098 Homing method SINT 8 rw o RT #x6099 Homing speed DT6099 80 Number of entries 02 ro o #x609a Homing acceleration UDINT 32 rw o #x60A4 Profile jerk DT60a4 48 ro o #x60B1 Velocity Offset DINT 32 rw o RT #x60B2 Torque Offset INT 16 rw o RT #x60C1 Interpolation data record DT60c1 48 Number of entries 02 ro c #x60C2 Interpolation time period DT60c2 24 Number of entries 02 ro c #x60fa Control effort DINT 32 ro o #x60fc Position demand value* DINT 32 ro o RT #x60fd Digital inputs UDINT 32 ro o RT #x60fe Digital outputs DT60fe 96 Number of entries 02 ro c #x60ff Target velocity DINT 32 rw o RT #x6502 Supported drive modes UDINT 32 ro m RT Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CiA402 PV Mode (RX) #x1601 #x1602 #x1603 #x6040 0 16 wControlword UINT #x60FF 0 32 dwTargetVelocity DINT #x1601 CiA402 PP Mode (RX) #x1600 #x1602 #x1603 #x6040 0 16 Controlword UINT #x607A 0 32 Target Position DINT #x1602 CoE CSP Mode (RX) #x1600 #x1601 #x1603 #x6040 0 16 Controlword UINT #x607A 0 32 Target Position DINT #x60FE 1 32 Physical Output UDINT #x1603 HM (RX) #x1600 #x1601 #x1602 #x6040 0 16 Controlword UINT #x1A00 CiA402 PV Mode (TX) #x1A01 #x1A02 #x1A03 #x6041 0 16 wStatusword UINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x1A01 CiA402 PP Mode (TX) #x1A00 #x1A02 #x1A03 #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x1A02 CoE CSP Mode ((TX) #x1A00 #x1A01 #x1A03 #x603F 0 16 Error Code UINT #x6041 0 16 Statusword UINT #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 FollowingErrorActualValue DINT #x60FD 0 32 Physical Inputs UDINT #x1A03 HM((TX) #x1A00 #x1A01 #x1A02 #x6041 0 16 Statusword UINT PS 24672 0 08 DcSync DC for synchronization #x0300 0 0 2 0 0 2 0 0 DcOff DC unused #x0000 1 0 100 34 0 0 65536 060001CCE8030000