#x00100000 Inovance 汇川技术 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EncoderInput Encoder Input 脉冲计数模块 424DD8020000000000003600000028000000100000000E0000000100180000000000A2020000120B0000120B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFEBEBEBE9E9E9E1E1E1E8E8E8BFBFBFF2F2F2E3E3E3E4E4E4BFBFBFDBDBDBDCDCDCE6E6E6BFBFBFE2E2E2D0D0D0D4D4D4B7B7B7B0B0B08D8D8D909090777777B9B9B9747474A8A8A85A5A5A8282827878788B8B8B7E7E7EBDBDBD767676A0A0A0B2B2B2AAAAAA6B6B6B909090969696A2A2A2848484B0B0B07777778A8A8B5C5C5C838383A0A0A0CFCFCF8686869B9B9BADADADDBDBDBDDDDDDEEEEEED7D7D7E2E1E1EFEFEFE9E9EAD3D3D4F2F2F3D5D6D6EAEAEBD6D6D6EAEAEBDFDFDFE3E3E3E5E5E5F9F9F9FFFFFFFFFFFFFFFFFFFFFFFFFDFFFFFFFFFFFFFFFFFCFCFAFEFFFFFEFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDFEFFFAFDFDC7AE8BAB7D44A37134A77135AA804DD9C8A7FFFFFFFAFFFFFDFEFEFFFFFFFFFFFFFEFFFFFFFFFFFFFFFFFDFDFCC6A579854600854500915912A06925A87230A7783CCDB699EAE9E3FCFEFEE2DDCBD8C4ACFAFFFFFDFFFFFDFEFEF5F4F0A17033AC783DAA804ABA946AD9C1A4DDD4BECFB8A1BEA482DED2BFFEFEF9F2F1EEB38E62C9AF8DF8FAF7FFFFFFFFFFFFF5F2E9D1BEA5A78355E6D6BDF0F3ECF2F5EFEFEBE7C4A277BA976AF8F7F3FDFFF9F6F6F3D4BE9EB7986DC3A881C5A780C1996DCCAF8CD0BB9AC1AD8BF8F7EEFDFFFFFEFFFFFFFFFCD0BA9ACFBC9FFDFEFCE4DCCECAB698E0D2B8CEB99DD2B896C1A684B387569153088F4700EEDEC7FFFFFFFFFFFEFCFFFFFFFFFFECEAE0FEFEFBF5F7F4C7AD87A17236905A16965D13894B008941008C4D00B78B5BFAFAF4FFFFFFFFFFFFFEFDFFFEFEFDFFFFFFFEFEFAFCFDFAFDFFFFF2F0E4C5AA86AE8551AB7D44B28D5CD1C2A9FDFDFEFDFFFEFFFFFFFFFFFFFFFCFDFDFEFFFAFEFF0000 GR10-8PBE GR10-8PBE_1.4.3.0 Incremental Encoder Input Units http://www.inovance.cn 3000 9000 5000 200 200 4000 EncoderInput 0 BIT2 2 BOOL 1 DINT 32 INT 16 UDINT 32 ULINT 64 UINT 16 USINT 8 SINT 8 STRING(31) 248 STRING(15) 120 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro DT10F1 144 0 SubIndex 000 USINT 8 0 ro 2 Sync Error Counter Limit UDINT 32 16 rw DT1600 528 0 SubIndex 000 USINT 8 0 rw 1 1st Output Object to be mapped UDINT 32 16 rw 2 2nd Output Object to be mapped UDINT 32 48 rw 3 3rd Output Object to be mapped UDINT 32 80 rw 4 4th Output Object to be mapped UDINT 32 112 rw 5 5th Output Object to be mapped UDINT 32 144 rw 6 6th Output Object to be mapped UDINT 32 176 rw 7 7th Output Object to be mapped UDINT 32 208 rw 8 8th Output Object to be mapped UDINT 32 240 rw 9 9th Output Object to be mapped UDINT 32 272 rw 10 10th Output Object to be mapped UDINT 32 304 rw 11 11th Output Object to be mapped UDINT 32 336 rw 12 12th Output Object to be mapped UDINT 32 368 rw 13 13th Output Object to be mapped UDINT 32 400 rw 14 14th Output Object to be mapped UDINT 32 432 rw 15 15th Output Object to be mapped UDINT 32 464 rw 16 16th Output Object to be mapped UDINT 32 496 rw DT1A00 528 0 SubIndex 000 USINT 8 0 rw 1 1st Input Object to be mapped UDINT 32 16 rw 2 2nd Input Object to be mapped UDINT 32 48 rw 3 3rd Input Object to be mapped UDINT 32 80 rw 4 4th Input Object to be mapped UDINT 32 112 rw 5 5th Input Object to be mapped UDINT 32 144 rw 6 6th Input Object to be mapped UDINT 32 176 rw 7 7th Input Object to be mapped UDINT 32 208 rw 8 8th Input Object to be mapped UDINT 32 240 rw 9 9th Input Object to be mapped UDINT 32 272 rw 10 10th Input Object to be mapped UDINT 32 304 rw 11 11th Input Object to be mapped UDINT 32 336 rw 12 12th Input Object to be mapped UDINT 32 368 rw 13 13th Input Object to be mapped UDINT 32 400 rw 14 14th Input Object to be mapped UDINT 32 432 rw 15 15th Input Object to be mapped UDINT 32 464 rw 16 16th Input Object to be mapped UDINT 32 496 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C32 400 0 SubIndex 000 USINT 8 0 ro m 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 9 Delay time UDINT 32 224 ro c 32 Sync error BOOL 1 384 ro c DT1C33 400 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 9 Delay time UDINT 32 224 ro c 32 Sync error BOOL 1 384 ro c DT1C12ARR UINT 32 1 2 DT1C12 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 32 16 rw o DT1C13ARR UINT 128 1 8 DT1C13 144 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 128 16 rw o DT3010 48 0 largest sub-index supported USINT 8 0 ro o 1 Port 0 invalid frame counter USINT 8 16 ro o 2 Port 0 Rx error counter USINT 8 24 ro o 3 Port 0 forwarded Rx error counter USINT 8 32 ro o 4 Port 0 lost link counter USINT 8 40 ro o DT3011 48 0 largest sub-index supported USINT 8 0 ro o 1 Port 1 invalid frame counter USINT 8 16 ro o 2 Port 1 Rx error counter USINT 8 24 ro o 3 Port 1 forwarded Rx error counter USINT 8 32 ro o 4 Port 1 lost link counter USINT 8 40 ro o DT3012 48 0 largest sub-index supported USINT 8 0 ro o 1 ECAT Processing unit error counter USINT 8 16 ro o 2 PDI error cunter USINT 8 24 ro o 3 Watchdog counter process data USINT 8 32 ro o 4 Watchdog counter PDI USINT 8 40 ro o DT3016 80 0 SubIndex 000 USINT 8 0 ro o 1 Rotary switchs value UINT 16 16 ro o 2 Configured station address UINT 16 32 ro o 3 Configured station alias UINT 16 48 ro o 4 Eeprom value UINT 16 64 ro o DT3103 48 0 Number of entries USINT 8 0 ro o 1 Ch0 maximum counter value DINT 32 16 rw o DT3104 48 0 Number of entries USINT 8 0 ro o 1 Ch0 minimum counter value DINT 32 16 rw o DT3105 48 0 Number of entries USINT 8 0 ro o 1 Ch0 external input function selection UDINT 32 16 rw o DT3107 48 0 Number of entries USINT 8 0 ro o 1 Ch0 external output function selection UDINT 32 16 rw o DT3109 32 0 Number of entries USINT 8 0 ro o 1 Ch0 filter UINT 16 16 rw o DT310a 32 0 Number of entries USINT 8 0 ro o 1 Ch0 pluse rate test time UINT 16 16 rw o DT3200 32 0 Number of entries USINT 8 0 ro o 1 Ch0 error code UINT 16 16 ro T DT3300 128 0 Number of entries USINT 8 0 ro o 1 Time test control word UINT 16 16 ro R 2 Sync cycle time UDINT 32 32 ro T 3 SM cycle time UDINT 32 64 ro T 4 Copy time DINT 32 96 ro T DT6000 32 0 Number of entries USINT 8 0 ro o 1 Ch0 encoder counter status UINT 16 16 ro T DT6001 32 0 Number of entries USINT 8 0 ro o 1 Ch0 reset/external input status UINT 16 16 ro T DT6002 48 0 Number of entries USINT 8 0 ro o 1 Ch0 encoder present position DINT 32 16 ro T DT6003 48 0 Number of entries USINT 8 0 ro o 1 Ch0 pulse rate UDINT 32 16 ro T DT6004 80 0 Number of entries USINT 8 0 ro o 1 Ch0 PB0 and PB1 probe status UINT 16 16 ro T 2 Ch0 PB2 and PB3 probe status UINT 16 32 ro T 3 Ch0 PB4 and PB5 probe status UINT 16 48 ro T 4 Ch0 PB6 and PB7 probe status UINT 16 64 ro T DT6005 272 0 Number of entries USINT 8 0 ro o 1 Ch0 touch probe PB0 pos value DINT 32 16 ro T 2 Ch0 touch probe PB1 pos value DINT 32 48 ro T 3 Ch0 touch probe PB2 pos value DINT 32 80 ro T 4 Ch0 touch probe PB3 pos value DINT 32 112 ro T 5 Ch0 touch probe PB4 pos value DINT 32 144 ro T 6 Ch0 touch probe PB5 pos value DINT 32 176 ro T 7 Ch0 touch probe PB6 pos value DINT 32 208 ro T 8 Ch0 touch probe PB7 pos value DINT 32 240 ro T DT6006 272 0 Number of entries USINT 8 0 ro o 1 Ch0 touch probe PB0 neg value DINT 32 16 ro T 2 Ch0 touch probe PB1 neg value DINT 32 48 ro T 3 Ch0 touch probe PB2 neg value DINT 32 80 ro T 4 Ch0 touch probe PB3 neg value DINT 32 112 ro T 5 Ch0 touch probe PB4 neg value DINT 32 144 ro T 6 Ch0 touch probe PB5 neg value DINT 32 176 ro T 7 Ch0 touch probe PB6 neg value DINT 32 208 ro T 8 Ch0 touch probe PB7 neg value DINT 32 240 ro T DT6009 144 0 Number of entries USINT 8 0 ro o 1 Ch0 time stamp ULINT 64 16 ro T 2 Ch1 time stamp ULINT 64 80 ro T DT600a 528 0 Number of entries USINT 8 0 ro o 1 Ch0 touch probe PB0 pos time stamp 1 UDINT 32 16 ro T 2 Ch0 touch probe PB0 pos time stamp 2 UDINT 32 48 ro T 3 Ch0 touch probe PB1 pos time stamp 1 UDINT 32 80 ro T 4 Ch0 touch probe PB1 pos time stamp 2 UDINT 32 112 ro T 5 Ch0 touch probe PB2 pos time stamp 1 UDINT 32 144 ro T 6 Ch0 touch probe PB2 pos time stamp 2 UDINT 32 176 ro T 7 Ch0 touch probe PB3 pos time stamp 1 UDINT 32 208 ro T 8 Ch0 touch probe PB3 pos time stamp 2 UDINT 32 240 ro T 9 Ch0 touch probe PB4 pos time stamp 1 UDINT 32 272 ro T 10 Ch0 touch probe PB4 pos time stamp 2 UDINT 32 304 ro T 11 Ch0 touch probe PB5 pos time stamp 1 UDINT 32 336 ro T 12 Ch0 touch probe PB5 pos time stamp 2 UDINT 32 368 ro T 13 Ch0 touch probe PB06 pos time stamp 1 UDINT 32 400 ro T 14 Ch0 touch probe PB6 pos time stamp 2 UDINT 32 432 ro T 15 Ch0 touch probe PB7 pos time stamp 1 UDINT 32 464 ro T 16 Ch0 touch probe PB7 pos time stamp 2 UDINT 32 496 ro T DT600b 528 0 Number of entries USINT 8 0 ro o 1 Ch0 touch probe PB0 neg time stamp 1 UDINT 32 16 ro T 2 Ch0 touch probe PB0 neg time stamp 2 UDINT 32 48 ro T 3 Ch0 touch probe PB1 neg time stamp 1 UDINT 32 80 ro T 4 Ch0 touch probe PB1 neg time stamp 2 UDINT 32 112 ro T 5 Ch0 touch probe PB2 neg time stamp 1 UDINT 32 144 ro T 6 Ch0 touch probe PB2 neg time stamp 2 UDINT 32 176 ro T 7 Ch0 touch probe PB3 neg time stamp 1 UDINT 32 208 ro T 8 Ch0 touch probe PB3 neg time stamp 2 UDINT 32 240 ro T 9 Ch0 touch probe PB4 neg time stamp 1 UDINT 32 272 ro T 10 Ch0 touch probe PB4 neg time stamp 2 UDINT 32 304 ro T 11 Ch0 touch probe PB5 neg time stamp 1 UDINT 32 336 ro T 12 Ch0 touch probe PB5 neg time stamp 2 UDINT 32 368 ro T 13 Ch0 touch probe PB6 neg time stamp 1 UDINT 32 400 ro T 14 Ch0 touch probe PB6 neg time stamp 2 UDINT 32 432 ro T 15 Ch0 touch probe PB7 neg time stamp 1 UDINT 32 464 ro T 16 Ch0 touch probe PB7 neg time stamp 2 UDINT 32 496 ro T DT600e 32 0 Number of entries USINT 8 0 ro o 1 Ch0 DO output status UINT 16 16 ro T DT7000 32 0 Number of entries USINT 8 0 ro o 1 Ch0 counter operation command UINT 16 16 rw R DT7001 48 0 Number of entries USINT 8 0 ro o 1 Ch0 preset command value DINT 32 16 rw R DT7002 80 0 Number of entries USINT 8 0 ro o 1 Ch0 PB0 and PB1 operation command UINT 16 16 rw R 2 Ch0 PB2 and PB3 operation command UINT 16 32 rw R 3 Ch0 PB4 and PB5 operation command UINT 16 48 rw R 4 Ch0 PB6 and PB7 operation command UINT 16 64 rw R DT7003 32 0 Number of entries USINT 8 0 ro o 1 Ch0 DO output function UINT 16 16 rw R DT7004 48 0 Number of entries USINT 8 0 ro o 1 Ch0 compare command value 1 DINT 32 16 rw R DT7005 48 0 Number of entries USINT 8 0 ro o 1 Ch0 compare command value 2 DINT 32 16 rw R DT7006 32 0 Number of entries USINT 8 0 ro o 1 Ch0 compare command time 1 UINT 16 16 rw R DT7007 32 0 Number of entries USINT 8 0 ro o 1 Ch0 compare command time 2 UINT 16 16 rw R #x1000 Device type UDINT 32 #x00000000 ro o #x1001 Error Register USINT 8 00 ro o #x1008 Device name STRING(31) 248 GR10-8PBE ro #x100a Software version STRING(15) 32 01.01.00.00 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID #x00100000 Product Code #x10F40918 Revision Number #x00000000 ro o #x1700 Ch0 RPDO Mapping parameter 0 DT1600 336 SubIndex 000 00 10 #x03 1st Output Object to be mapped #x00000000 #xFFFFFFFF #x60400010 2nd Output Object to be mapped #x00000000 #xFFFFFFFF #x607A0020 3rd Output Object to be mapped #x00000000 #xFFFFFFFF #x60B80010 4th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 5th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 6th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 7th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 8th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1701 Ch0 RPDO Mapping parameter 1 DT1600 336 SubIndex 000 00 10 #x03 1st Output Object to be mapped #x00000000 #xFFFFFFFF #x60400010 2nd Output Object to be mapped #x00000000 #xFFFFFFFF #x607A0020 3rd Output Object to be mapped #x00000000 #xFFFFFFFF #x60B80010 4th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 5th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 6th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 7th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 8th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Output Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1B00 Ch0 TPDO Mapping Parameter 0 DT1A00 528 SubIndex 000 00 10 #x07 1st Input Object to be mapped #x00000000 #xFFFFFFFF #x60410010 2nd Input Object to be mapped #x00000000 #xFFFFFFFF #x60640020 3rd Input Object to be mapped #x00000000 #xFFFFFFFF #x60B90010 4th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BA0020 5th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BC0020 6th Input Object to be mapped #x00000000 #xFFFFFFFF #x603F0010 7th Input Object to be mapped #x00000000 #xFFFFFFFF #x60FD0020 8th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 11th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 12th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 13th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 14th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 15th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 16th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1B01 Ch0 TPDO Mapping Parameter 1 DT1A00 528 SubIndex 000 00 10 #x07 1st Input Object to be mapped #x00000000 #xFFFFFFFF #x60410010 2nd Input Object to be mapped #x00000000 #xFFFFFFFF #x60640020 3rd Input Object to be mapped #x00000000 #xFFFFFFFF #x60B90010 4th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BA0020 5th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BC0020 6th Input Object to be mapped #x00000000 #xFFFFFFFF #x603F0010 7th Input Object to be mapped #x00000000 #xFFFFFFFF #x60FD0020 8th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 11th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 12th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 13th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 14th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 15th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 16th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1B02 Ch0 TPDO Mapping Parameter 2 DT1A00 528 SubIndex 000 00 10 #x07 1st Input Object to be mapped #x00000000 #xFFFFFFFF #x60410010 2nd Input Object to be mapped #x00000000 #xFFFFFFFF #x60640020 3rd Input Object to be mapped #x00000000 #xFFFFFFFF #x60B90010 4th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BA0020 5th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BC0020 6th Input Object to be mapped #x00000000 #xFFFFFFFF #x603F0010 7th Input Object to be mapped #x00000000 #xFFFFFFFF #x60FD0020 8th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 11th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 12th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 13th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 14th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 15th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 16th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1B03 Ch0 TPDO Mapping Parameter 3 DT1A00 528 SubIndex 000 00 10 #x07 1st Input Object to be mapped #x00000000 #xFFFFFFFF #x60410010 2nd Input Object to be mapped #x00000000 #xFFFFFFFF #x60640020 3rd Input Object to be mapped #x00000000 #xFFFFFFFF #x60B90010 4th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BA0020 5th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BC0020 6th Input Object to be mapped #x00000000 #xFFFFFFFF #x603F0010 7th Input Object to be mapped #x00000000 #xFFFFFFFF #x60FD0020 8th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 11th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 12th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 13th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 14th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 15th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 16th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1B04 Ch0 TPDO Mapping Parameter 4 DT1A00 528 SubIndex 000 00 10 #x07 1st Input Object to be mapped #x00000000 #xFFFFFFFF #x60410010 2nd Input Object to be mapped #x00000000 #xFFFFFFFF #x60640020 3rd Input Object to be mapped #x00000000 #xFFFFFFFF #x60B90010 4th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BA0020 5th Input Object to be mapped #x00000000 #xFFFFFFFF #x60BC0020 6th Input Object to be mapped #x00000000 #xFFFFFFFF #x603F0010 7th Input Object to be mapped #x00000000 #xFFFFFFFF #x60FD0020 8th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 9th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 10th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 11th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 12th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 13th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 14th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 15th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 16th Input Object to be mapped #x00000000 #xFFFFFFFF #x00000000 rw #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 00 SubIndex 001 0000 SubIndex 002 0000 ro #x1c13 TxPDO assign DT1C13 144 SubIndex 000 00 SubIndex 001 0000 SubIndex 002 0000 SubIndex 003 0000 SubIndex 004 0000 SubIndex 005 0000 SubIndex 006 0000 SubIndex 007 0000 SubIndex 008 0000 ro #x1c32 SM output parameter DT1C32 400 SubIndex 000 20 Sync mode 0002 Cycle time 00000000 Sync modes supported 0004 Minimum cycle time 00000000 Calc and copy time #x0003d090 Delay time 00000000 Sync error 00 ro o #x1c33 SM input parameter DT1C33 400 SubIndex 000 20 Sync mode #x0002 Cycle time 00000000 Sync modes supported 4 Minimum cycle time 00000000 Calc and copy time 00000000 Delay time 00000000 Sync error 00 ro o #x3010 Port 0 error counter DT3010 48 largest sub-index supported 04 Port 0 invalid frame counter 00 Port 0 Rx error counter 00 Port 0 forwarded Rx error counter 00 Port 0 lost link counter 00 ro o #x3011 Port 1 error counter DT3011 48 largest sub-index supported 04 Port 1 invalid frame counter 0000 Port 1 Rx error counter 0000 Port 1 forwarded Rx error counter 0000 Port 1 lost link counter 0000 ro o #x3012 ESC error counter DT3012 48 largest sub-index supported 04 ECAT Processing unit error counter 0000 PDI error cunter 0000 Watchdog counter process data 0000 Watchdog counter PDI 0000 ro o #x3016 Station address DT3016 80 SubIndex 000 04 Rotary switchs value 0000 Configured station address 0000 Configured station alias 0000 Eeprom value 0000 ro o #x3020 Fpga sorft version UDINT 32 00000000 ro o #x3100 Counter type UINT 16 0000 rw o #x3103 Maximum counter value DT3103 48 Number of entries 01 Ch0 maximum counter value 00000000 ro o #x3104 Minimum counter value DT3104 48 Number of entries 01 Ch0 minimum counter value 00000000 ro o #x3105 External input function selection DT3105 48 Number of entries 01 Ch0 external input function selection 00000000 ro o #x3106 External input polarity selection UINT 16 0000 rw o #x3107 External output function selection DT3107 80 Number of entries 02 Ch0 external output function selection 1 00000000 Ch0 external output function selection 2 00000000 ro o #x3108 External output polarity selection UINT 16 0000 rw o #x3109 Filter DT3109 32 Number of entries 01 Ch0 filter 0000 ro o #x310a Pluse rate test time DT310a 32 Number of entries 01 Ch0 pluse rate test time 0000 ro o #x3200 Error code DT3200 32 Number of entries 01 Ch0 error code 0000 ro o #x3300 Time test DT3300 128 Number of entries 04 Time test control word 0000 Sync cycle time 00000000 SM cycle time 00000000 Copy time 00000000 ro o #x6000 Encoder counter status DT6000 32 Number of entries 01 Ch0 encoder counter status 0000 ro o #x6001 Reset/external input status DT6001 32 Number of entries 00 Ch0 reset/external input status 0000 ro o #x6002 Encoder present position DT6002 48 Number of entries 01 Ch0 encoder present position 00000000 ro o #x6003 Pulse rate DT6003 48 Number of entries 01 Ch0 pulse rate 0000 ro o #x6004 Touch probe status DT6004 80 Number of entries 04 Ch0 PB0 and PB1 touch probe status 0000 Ch0 PB2 and PB3 touch probe status 0000 Ch0 PB4 and PB5 touch probe status 0000 Ch0 PB6 and PB7 touch probe status 0000 ro o #x6005 Touch probe pos value DT6005 272 Number of entries 08 Ch0 touch probe PB0 pos value 00000000 Ch0 touch probe PB1 pos value 00000000 Ch0 touch probe PB2 pos value 00000000 Ch0 touch probe PB3 pos value 00000000 Ch0 touch probe PB4 pos value 00000000 Ch0 touch probe PB5 pos value 00000000 Ch0 touch probe PB6 pos value 00000000 Ch0 touch probe PB7 pos value 00000000 ro o #x6006 Touch probe neg value DT6006 272 Number of entries 08 Ch0 touch probe PB0 neg value 00000000 Ch0 touch probe PB1 neg value 00000000 Ch0 touch probe PB2 neg value 00000000 Ch0 touch probe PB3 neg value 00000000 Ch0 touch probe PB4 neg value 00000000 Ch0 touch probe PB5 neg value 00000000 Ch0 touch probe PB6 neg value 00000000 Ch0 touch probe PB7 neg value 00000000 ro o #x600a Touch probe pos time stamp DT600a 528 Number of entries 10 Ch0 touch probe PB0 pos time stamp 1 00000000 Ch0 touch probe PB0 pos time stamp 2 00000000 Ch0 touch probe PB1 pos time stamp 1 00000000 Ch0 touch probe PB1 pos time stamp 2 00000000 Ch0 touch probe PB2 pos time stamp 1 00000000 Ch0 touch probe PB2 pos time stamp 2 00000000 Ch0 touch probe PB3 pos time stamp 1 00000000 Ch0 touch probe PB3 pos time stamp 2 00000000 Ch0 touch probe PB4 pos time stamp 1 00000000 Ch0 touch probe PB4 pos time stamp 2 00000000 Ch0 touch probe PB5 pos time stamp 1 00000000 Ch0 touch probe PB5 pos time stamp 2 00000000 Ch0 touch probe PB6 pos time stamp 1 00000000 Ch0 touch probe PB6 pos time stamp 2 00000000 Ch0 touch probe PB7 pos time stamp 1 00000000 Ch0 touch probe PB7 pos time stamp 2 00000000 ro o #x600b Touch probe neg time stamp DT600b 528 Number of entries 16 Ch0 touch probe PB0 neg time stamp 1 00000000 Ch0 touch probe PB0 neg time stamp 2 00000000 Ch0 touch probe PB1 neg time stamp 1 00000000 Ch0 touch probe PB1 neg time stamp 2 00000000 Ch0 touch probe PB2 neg time stamp 1 00000000 Ch0 touch probe PB2 neg time stamp 2 00000000 Ch0 touch probe PB3 neg time stamp 1 00000000 Ch0 touch probe PB3 neg time stamp 2 00000000 Ch0 touch probe PB4 neg time stamp 1 00000000 Ch0 touch probe PB4 neg time stamp 2 00000000 Ch0 touch probe PB5 neg time stamp 1 00000000 Ch0 touch probe PB5 neg time stamp 2 00000000 Ch0 touch probe PB6 neg time stamp 1 00000000 Ch0 touch probe PB6 neg time stamp 2 00000000 Ch0 touch probe PB7 neg time stamp 1 00000000 Ch0 touch probe PB7 neg time stamp 2 00000000 ro o #x600e DO output status DT600e 32 Number of entries 01 Ch0 DO output status 0000 ro o #x7000 Encoder counter operation command DT7000 32 Number of entries 01 Ch0 counter operation command 0000 ro o #x7001 Preset command value DT7001 80 Number of entries 01 Ch0 preset command value 00000000 ro o #x7002 Touch probe function DT7002 80 Number of entries 04 Ch0 touch probe PB0 and PB1 operation command 0000 Ch0 touch probe PB2 and PB3 operation command 0000 Ch0 touch probe PB4 and PB5 operation command 0000 Ch0 touch probe PB6 and PB7 operation command 0000 ro o #x7003 DO output command DT7003 32 Number of entries 01 Ch0 DO output function 0000 ro o #x7004 Compare command value 1 DT7004 48 Number of entries 01 Ch0 compare command value 1 00000000 ro o #x7005 Compare command value 2 DT7005 80 Number of entries 01 Ch0 compare command value 2 00000000 ro o #x7006 Compare command time 1 DT7006 32 Number of entries 01 Ch0 compare command time 1 0000 ro o #x7007 Compare command time 2 DT7007 32 Number of entries 01 Ch0 compare command time 2 0000 ro o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1700 Ch0 RPDO Mapping parameter 0 #x7000 1 16 Ch0 counter operation command UINT #x7001 1 32 Ch0 preset command value DINT #x7002 1 16 Ch0 touch probe PB0 and PB1 operation command UINT #x7002 2 16 Ch0 touch probe PB2 and PB3 operation command UINT #x7002 3 16 Ch0 touch probe PB4 and PB5 operation command UINT #x7002 4 16 Ch0 touch probe PB6 and PB7 operation command UINT #x7003 1 16 Ch0 DO output function UINT #x1701 Ch0 RPDO Mapping parameter 1 #x7004 1 32 Ch0 compare command value 1 DINT #x7005 1 32 Ch0 compare command value 2 DINT #x7006 1 16 Ch0 compare command time 1 UINT #x7007 1 16 Ch0 compare command time 2 UINT #x1B00 Ch0 TPDO Mapping Parameter 通道0基础配置发送映射配置 #x6000 1 16 Ch0 encoder counter status UINT #x6001 1 16 Ch0 reset/external input status UINT #x6002 1 32 Ch0 encoder present position DINT #x6003 1 32 Ch0 pulse rate UDINT #x6004 1 16 Ch0 touch probe PB0 and PB1 status UINT #x6004 2 16 Ch0 touch probe PB2 and PB3 status UINT #x6004 3 16 Ch0 touch probe PB4 and PB5 status UINT #x6004 4 16 Ch0 touch probe PB6 and PB7 status UINT #x600e 1 16 Ch0 DO output status UINT #x3200 1 16 Ch0 error code UINT #x1B01 Ch0 touch probe pos value TPDO mapping parameter #x6005 1 32 Ch0 touch probe PB0 pos value DINT #x6005 2 32 Ch0 touch probe PB1 pos value DINT #x6005 3 32 Ch0 touch probe PB2 pos value DINT #x6005 4 32 Ch0 touch probe PB3 pos value DINT #x6005 5 32 Ch0 touch probe PB4 pos value DINT #x6005 6 32 Ch0 touch probe PB5 pos value DINT #x6005 7 32 Ch0 touch probe PB6 pos value DINT #x6005 8 32 Ch0 touch probe PB7 pos value DINT #x1B02 Ch0 touch probe neg value TPDO mapping parameter #x6006 1 32 Ch0 touch probe PB0 neg value DINT #x6006 2 32 Ch0 touch probe PB1 neg value DINT #x6006 3 32 Ch0 touch probe PB2 neg value DINT #x6006 4 32 Ch0 touch probe PB3 neg value DINT #x6006 5 32 Ch0 touch probe PB4 neg value DINT #x6006 6 32 Ch0 touch probe PB5 neg value DINT #x6006 7 32 Ch0 touch probe PB6 neg value DINT #x6006 8 32 Ch0 touch probe PB7 neg value DINT #x1B03 Ch0 touch probe pos time stamp TPDO mapping parameter #x600a 1 32 Ch0 touch probe PB0 pos time stamp 1 UDINT #x600a 2 32 Ch0 touch probe PB0 pos time stamp 2 UDINT #x600a 3 32 Ch0 touch probe PB1 pos time stamp 1 UDINT #x600a 4 32 Ch0 touch probe PB1 pos time stamp 2 UDINT #x600a 5 32 Ch0 touch probe PB2 pos time stamp 1 UDINT #x600a 6 32 Ch0 touch probe PB2 pos time stamp 2 UDINT #x600a 7 32 Ch0 touch probe PB3 pos time stamp 1 UDINT #x600a 8 32 Ch0 touch probe PB3 pos time stamp 2 UDINT #x600a 9 32 Ch0 touch probe PB4 pos time stamp 1 UDINT #x600a 10 32 Ch0 touch probe PB4 pos time stamp 2 UDINT #x600a 11 32 Ch0 touch probe PB5 pos time stamp 1 UDINT #x600a 12 32 Ch0 touch probe PB5 pos time stamp 2 UDINT #x600a 13 32 Ch0 touch probe PB6 pos time stamp 1 UDINT #x600a 14 32 Ch0 touch probe PB6 pos time stamp 2 UDINT #x600a 15 32 Ch0 touch probe PB7 pos time stamp 1 UDINT #x600a 16 32 Ch0 touch probe PB7 pos time stamp 2 UDINT #x1B04 Ch0 touch probe neg time stamp TPDO mapping parameter #x600b 1 32 Ch0 touch probe PB0 neg time stamp 1 UDINT #x600b 2 32 Ch0 touch probe PB0 neg time stamp 2 UDINT #x600b 3 32 Ch0 touch probe PB1 neg time stamp 1 UDINT #x600b 4 32 Ch0 touch probe PB1 neg time stamp 2 UDINT #x600b 5 32 Ch0 touch probe PB2 neg time stamp 1 UDINT #x600b 6 32 Ch0 touch probe PB2 neg time stamp 2 UDINT #x600b 7 32 Ch0 touch probe PB3 neg time stamp 1 UDINT #x600b 8 32 Ch0 touch probe PB3 neg time stamp 2 UDINT #x600b 9 32 Ch0 touch probe PB4 neg time stamp 1 UDINT #x600b 10 32 Ch0 touch probe PB4 neg time stamp 2 UDINT #x600b 11 32 Ch0 touch probe PB5 neg time stamp 1 UDINT #x600b 12 32 Ch0 touch probe PB5 neg time stamp 2 UDINT #x600b 13 32 Ch0 touch probe PB6 neg time stamp 1 UDINT #x600b 14 32 Ch0 touch probe PB6 neg time stamp 2 UDINT #x600b 15 32 Ch0 touch probe PB7 neg time stamp 1 UDINT #x600b 16 32 Ch0 touch probe PB7 neg time stamp 2 UDINT PS #x3100 0 2121 Counter type PS #x3103 1 00f22b00 Ch0 maximum counter value PS #x3104 1 00000000 Ch0 minimum counter value PS #x3105 1 00000000 CH0 external input function selection PS #x3106 0 0000 External input polarity selection PS #x3107 1 01020000 Ch0 external output function selection PS #x3108 0 0000 External output polarity selection PS #x3109 1 0200 Ch0 filter PS #x310a 1 0a00 Ch0 pluse rate test time DC DC-Synchron #x300 0 0 0 2048 003c0000ff0100000000 0010800080108000 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