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Documentation
AX8000 Object Dictionary
Axis module: FW v1.00 -- Power supply module: FW v1.00
1.02017-05-04
Version:Date:
Table of content
AX8000 Object Dictionary 3Version: 1.0
Table of content1 Foreword .................................................................................................................................................... 7
1.1 Notes on the documentation........................................................................................................... 71.2 Safety instructions .......................................................................................................................... 8
2 Power supply modules ............................................................................................................................. 92.1 Standard-Objects............................................................................................................................ 9
2.1.1 1000 Device type ............................................................................................................... 92.1.2 1008 Device name ............................................................................................................. 92.1.3 1009 Hardware version.................................................................................................... 102.1.4 100A Software version..................................................................................................... 102.1.5 100B Bootloader version.................................................................................................. 112.1.6 1018:x Identity.................................................................................................................. 112.1.7 10F3:x Diagnosis History ................................................................................................. 132.1.8 10F8 Actual Time Stamp.................................................................................................. 252.1.9 1C00:x Sync manager type.............................................................................................. 252.1.10 1C12:x RxPDO assign ..................................................................................................... 272.1.11 1C13:x TxPDO assign...................................................................................................... 272.1.12 1C33:x SM input parameter ............................................................................................. 302.1.13 6000:x PSM Controlword for axis .................................................................................... 352.1.14 6001:x PSM Actual process values ................................................................................. 382.1.15 6002:x PSM Warning register .......................................................................................... 402.1.16 6003:x PSM Diagnostics process data ............................................................................ 432.1.17 6004:x PSM Memory interface data................................................................................. 452.1.18 6005:x PSM Statusword .................................................................................................. 462.1.19 8000:x PSM Parameters .................................................................................................. 492.1.20 8001:x PSM Memory interface config .............................................................................. 542.1.21 8002:x PSM Memory control............................................................................................ 562.1.22 8003 PSM Reset errors.................................................................................................... 582.1.23 8004:x PSM Parameters error manager .......................................................................... 592.1.24 8005:x PSM Factory settings ........................................................................................... 602.1.25 9002:x PSM Device ids.................................................................................................... 652.1.26 9003:x PSM Power pcb ids.............................................................................................. 692.1.27 9004:x PSM Link pcb ids ................................................................................................. 782.1.28 9005:x PSM Option pcb ids ............................................................................................. 862.1.29 9006:x PSM Internal info.................................................................................................. 952.1.30 9007:x PSM Display pcb ids ............................................................................................ 992.1.31 A000:x PSM Actual internal values................................................................................ 1082.1.32 A001:x PSM Internal diagnostics ................................................................................... 1102.1.33 A002:x PSM Diagnostics ............................................................................................... 1112.1.34 F000:x Modular device profile ........................................................................................ 1122.1.35 F008 Code word ............................................................................................................ 1132.1.36 F010:x Module list .......................................................................................................... 114
3 Axis modules ......................................................................................................................................... 1153.1 Standard-Objects........................................................................................................................ 115
3.1.1 1000 Device type ........................................................................................................... 1153.1.2 1001 Error register ......................................................................................................... 1163.1.3 1008 Device name ......................................................................................................... 1173.1.4 1009 Hardware version.................................................................................................. 1183.1.5 100A Software version................................................................................................... 1193.1.6 1018:x Identity................................................................................................................ 1203.1.7 10F3:x Diagnosis History ............................................................................................... 1223.1.8 10F8 Actual Time Stamp................................................................................................ 1573.1.9 1C00:x Sync manager type............................................................................................ 158
Table of content
AX8000 Object Dictionary4 Version: 1.0
3.1.10 1C12:x RxPDO assign ................................................................................................... 1603.1.11 1C13:x TxPDO assign.................................................................................................... 1653.1.12 1C32:x SM output parameter ......................................................................................... 1753.1.13 1C33:x SM input parameter ........................................................................................... 1793.1.14 F030:x Configured modules........................................................................................... 1843.1.15 F050:x Detected modules .............................................................................................. 216
3.2 Objects of module DeviceMain ................................................................................................... 2493.2.1 2C00:x InputPDO1......................................................................................................... 2493.2.2 2C01:x Device actual values.......................................................................................... 2503.2.3 2C02:x DeviceMain Parameters .................................................................................... 2513.2.4 2C03:x DeviceMain Power supply Connection .............................................................. 2533.2.5 2C04:x DeviceMain Power supply Informations ............................................................ 2553.2.6 2C10:x DeviceMain production info ControlPcb ............................................................ 2583.2.7 2C11:x DeviceMain production info FrontPcb................................................................ 2593.2.8 2C12:x DeviceMain production info AdditionalAxisPcb ................................................. 2603.2.9 2C13:x DeviceMain production info DisplayPcb ............................................................ 2613.2.10 2C14:x DeviceMain production info SafetyPcb.............................................................. 2623.2.11 2C15:x DeviceMain production info CpuPcb ................................................................. 2633.2.12 2C1E:x DeviceMain error counter .................................................................................. 2643.2.13 2C1F:x DeviceMain info ................................................................................................. 2703.2.14 6079 DC link circuit voltage ........................................................................................... 271
3.3 Objects of module DeviceDebug ................................................................................................ 2723.3.1 2FE0:x TestInputs .......................................................................................................... 2723.3.2 2FE1:x TestOutputs ....................................................................................................... 2733.3.3 2FF0:x Memory000........................................................................................................ 2743.3.4 2FF1:x Memory400........................................................................................................ 2753.3.5 2FF2:x Memory800........................................................................................................ 2763.3.6 2FF3:x MemoryC00 ....................................................................................................... 2773.3.7 2FFE:x developer commands ........................................................................................ 278
3.4 Objects of module AxisMain ....................................................................................................... 2793.4.1 3000:x AxisMain parameters ......................................................................................... 2793.4.2 3001:x AxisMain actual values....................................................................................... 2833.4.3 3002:x AxisMain parameters positive limit switch.......................................................... 2853.4.4 3003:x AxisMain parameters negative limit switch ........................................................ 2873.4.5 3004:x AxisMain parameters error manager.................................................................. 2893.4.6 3005:x AxisMain scaling index....................................................................................... 2923.4.7 3006:x AxisMain command............................................................................................ 2993.4.8 3007:x AxisMain parameters position offset .................................................................. 3013.4.9 301E:x AxisMain error counter....................................................................................... 3043.4.10 301F:x AxisMain info...................................................................................................... 3103.4.11 603E:x TxPDO Data invalid ........................................................................................... 3133.4.12 603F Error code ............................................................................................................. 3153.4.13 6040 Controlword........................................................................................................... 3163.4.14 6041 Statusword ............................................................................................................ 3173.4.15 605E Fault reaction option code .................................................................................... 3183.4.16 6060 Modes of operation ............................................................................................... 3193.4.17 6061 Modes of operation display ................................................................................... 3203.4.18 6064 Position actual value ............................................................................................. 3213.4.19 606C Velocity actual value............................................................................................. 3223.4.20 607B:x Position range limit ............................................................................................ 3233.4.21 608F:x Position encoder resolution................................................................................ 3243.4.22 6091:x Gear ratio ........................................................................................................... 3253.4.23 6092:x Feed constant .................................................................................................... 3263.4.24 6096:x Velocity factor..................................................................................................... 3283.4.25 6097:x Acceleration factor ............................................................................................. 329
Table of content
AX8000 Object Dictionary 5Version: 1.0
3.4.26 60A2:x Jerk factor .......................................................................................................... 3303.4.27 60B8 Touch probe control.............................................................................................. 3313.4.28 60B9 Touch probe status............................................................................................... 3323.4.29 60BA Touch probe 1 positive edge................................................................................ 3333.4.30 60BB Touch probe 1 negative edge .............................................................................. 3343.4.31 60BC Touch probe 2 positive edge................................................................................ 3353.4.32 60BD Touch probe 2 negative edge .............................................................................. 3363.4.33 60D0:x Touch probe source........................................................................................... 3373.4.34 60D1 Touch probe time stamp 1 positive edge ............................................................. 3383.4.35 60D2 Touch probe time stamp 1 negative edge ............................................................ 3393.4.36 60D3 Touch probe time stamp 2 positive edge ............................................................. 3403.4.37 60D4 Touch probe time stamp 2 negative edge ............................................................ 3413.4.38 60D9 Supported functions ............................................................................................. 3423.4.39 60DA Function settings.................................................................................................. 3433.4.40 60E4:x Additional position actual value ......................................................................... 3443.4.41 60E5:x Additional velocity actual value.......................................................................... 3453.4.42 60E6:x Additional position encoder resolution encoder increments .............................. 3463.4.43 60E8:x Additional gear ratio motor revolutions .............................................................. 3473.4.44 60E9:x Additional feed constant feed ............................................................................ 3483.4.45 60EB:x Additional position encoder resolution motor revolutions .................................. 3503.4.46 60ED:x Additional gear ratio shaft revolutions ............................................................... 3513.4.47 60EE:x Additional feed constant driving shaft revolutions ............................................. 3523.4.48 60FD Digital inputs......................................................................................................... 3533.4.49 6502 Supported drive modes......................................................................................... 354
3.5 Objects of module Interpolator.................................................................................................... 3553.5.1 3061:x Interpolator actual values ................................................................................... 3553.5.2 3062:x Interpolator parameters feed forward................................................................. 3573.5.3 607A Target position...................................................................................................... 3593.5.4 60B0 Position offset ....................................................................................................... 3603.5.5 60B1 Velocity offset ....................................................................................................... 3613.5.6 60C0 Interpolation sub mode select .............................................................................. 3623.5.7 60FF Target velocity ...................................................................................................... 363
3.6 Objects of module PositionControl ............................................................................................. 3643.6.1 30C0:x PosCtrl parameters mappable........................................................................... 3643.6.2 30C3:x PosCtrl parameters............................................................................................ 3653.6.3 6065 Following error window ......................................................................................... 3663.6.4 6066 Following error time out ........................................................................................ 3673.6.5 60F4 Following error actual value.................................................................................. 368
3.7 Objects of module VelocityControl.............................................................................................. 3693.7.1 3140:x VeloCtrl parameters mappable .......................................................................... 3693.7.2 3141:x VeloCtrl actual values ........................................................................................ 3723.7.3 3142:x VeloCtrl parameters ........................................................................................... 3753.7.4 3143:x VeloCtrl observer ............................................................................................... 3763.7.5 606F Velocity threshold ................................................................................................. 3783.7.6 6070 Velocity threshold time.......................................................................................... 3793.7.7 6085 Quick stop deceleration ........................................................................................ 3803.7.8 60C5 Max acceleration .................................................................................................. 3813.7.9 60C6 Max deceleration .................................................................................................. 382
3.8 Objects of module BiquadFilter................................................................................................... 3833.8.1 3163:x [SL] BiquadFilter parameters ............................................................................. 3833.8.2 3164 [SL] Filter input signal ........................................................................................... 3863.8.3 3165 [SL] Filter output signal ......................................................................................... 3873.8.4 3166 [SL] BiquadFilter scaling index.............................................................................. 388
3.9 Objects of module TorqueControl............................................................................................... 3893.9.1 3240:x TorqueCtrl parameters mappable ...................................................................... 389
Table of content
AX8000 Object Dictionary6 Version: 1.0
3.9.2 3241:x TorqueCtrl actual values .................................................................................... 3913.9.3 3242:x TorqueCtrl actual values2 .................................................................................. 3953.9.4 3243:x TorqueCtrl parameters ....................................................................................... 4023.9.5 3244:x TorqueCtrl demand values................................................................................. 4053.9.6 6071 Target torque/force ............................................................................................... 4063.9.7 6072 Bipolar torque/force limit value.............................................................................. 4073.9.8 6077 Torque/force actual value ..................................................................................... 4083.9.9 60B2 Torque/force offset ............................................................................................... 4093.9.10 60E0 Positive torque/force limit value............................................................................ 4103.9.11 60E1 Negative torque/force limit value .......................................................................... 4113.9.12 60EA Commutation angle .............................................................................................. 412
3.10 Objects of module FeedbackHpfDsl ........................................................................................... 4133.10.1 32E0:x [SL] EncoderActualValue................................................................................... 4133.10.2 32E1:x [SL] Encoder Info ............................................................................................... 4153.10.3 32E2:x [SL] Encoder Status........................................................................................... 4263.10.4 32E3:x [SL] Encoder Temperature Sensors .................................................................. 4373.10.5 32E4:x [SL] Encoder File Electronic Data Sheet ........................................................... 4403.10.6 32E5:x [SL] Encoder File Position Offset ....................................................................... 4413.10.7 32E6:x [SL] Encoder File User Data .............................................................................. 4423.10.8 32E7:x [SL] Encoder File Commutation Offset .............................................................. 4443.10.9 32E8:x [SL] Encoder Direct Access ............................................................................... 4453.10.10 32EA:x [SL] Encoder Save File User Data .................................................................... 4473.10.11 32EB:x [SL] Encoder Save File Commutation Offset..................................................... 4493.10.12 32EC:x [SL] Scan Connected Encoder.......................................................................... 451
3.11 Objects of module SyncServoMotor ........................................................................................... 4533.11.1 32C0:x Motor parameters .............................................................................................. 4533.11.2 32C1:x SyncServoMotor actual values .......................................................................... 4593.11.3 32C2:x Motor torque characteristic ................................................................................ 4623.11.4 32C6:x Motor commutation monitoring parameters....................................................... 4653.11.5 32C7:x Motor temperature sensor characteristic ........................................................... 4663.11.6 32C8:x Motor thermal model.......................................................................................... 4733.11.7 6075 Motor standstill current.......................................................................................... 4763.11.8 6076 Motor standstill torque........................................................................................... 4773.11.9 6080 Max motor speed .................................................................................................. 478
3.12 Objects of module AxisDebug .................................................................................................... 4793.12.1 33E1:x Memory000........................................................................................................ 4793.12.2 33E2:x Memory400........................................................................................................ 4803.12.3 33E3:x Memory800........................................................................................................ 4813.12.4 33E4:x MemoryC00 ....................................................................................................... 4823.12.5 33E5:x DebugIn ............................................................................................................. 4833.12.6 33E6:x DebugOut .......................................................................................................... 485
4 Support and Service.............................................................................................................................. 487
Foreword
AX8000 Object Dictionary 7Version: 1.0
1 Foreword
1.1 Notes on the documentationThis description is only intended for the use of trained specialists in control and automation engineering whoare familiar with the applicable national standards.It is essential that the documentation and the following notes and explanations are followed when installingand commissioning the components. It is the duty of the technical personnel to use the documentation published at the respective time of eachinstallation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all therequirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly underdevelopment.We reserve the right to revise and change the documentation at any time and without prior announcement.No claims for the modification of products that have already been supplied may be made on the basis of thedata, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registeredtrademarks of and licensed by Beckhoff Automation GmbH.Other designations used in this publication may be trademarks whose use by third parties for their ownpurposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications andpatents:EP1590927, EP1789857, DE102004044764, DE102007017835with corresponding applications or registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications andpatents:EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.The reproduction, distribution and utilization of this document as well as the communication of its contents toothers without express authorization are prohibited.Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of apatent, utility model or design.
Foreword
AX8000 Object Dictionary8 Version: 1.0
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for theapplication. Modifications to hardware or software configurations other than those described in thedocumentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who arefamiliar with the applicable national standards.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. Thesafety instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!Failure to follow the safety instructions associated with this symbol directly endangers thelife and health of persons.
WARNING
Risk of injury!Failure to follow the safety instructions associated with this symbol endangers the life andhealth of persons.
CAUTION
Personal injuries!Failure to follow the safety instructions associated with this symbol can lead to injuries topersons.
Attention
Damage to the environment or devicesFailure to follow the instructions associated with this symbol can lead to damage to the en-vironment or equipment.
Note
Tip or pointerThis symbol indicates information that contributes to better understanding.
Power supply modules
AX8000 Object Dictionary 9Version: 1.0
2 Power supply modules
2.1 Standard-Objects
2.1.1 1000 Device typesee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1000 (Device)Subindex 0x00Datatype UINT32Min. ValueDefault 62919561 (0x03C01389)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.2 1008 Device namesee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1008 (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault AX8620Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary10 Version: 1.0
2.1.3 1009 Hardware versionsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1009 (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.4 100A Software versionsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x100A (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault 00Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 11Version: 1.0
2.1.5 100B Bootloader versionsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x100B (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault N/AMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.6 1018:x Identitysee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.6.1 1018:01 Vendor ID
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 2 (0x00000002)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary12 Version: 1.0
2.1.6.2 1018:02 Product code
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 564944914 (0x21AC6012)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.6.3 1018:03 Revision
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.6.4 1018:04 Serial number
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x04Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 13Version: 1.0
2.1.7 10F3:x Diagnosis Historysee ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 35 (0x23)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.1 10F3:01 Maximum Messages
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x01Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.2 10F3:02 Newest Message
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x02Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary14 Version: 1.0
2.1.7.3 10F3:03 Newest Acknowledged Message
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x03Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.7.4 10F3:04 New Messages Available
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x04Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.5 10F3:05 Flags
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x05Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 15Version: 1.0
2.1.7.6 10F3:06 Diagnosis Message 001
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x06Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.7 10F3:07 Diagnosis Message 002
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x07Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.8 10F3:08 Diagnosis Message 003
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x08Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary16 Version: 1.0
2.1.7.9 10F3:09 Diagnosis Message 004
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x09Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.10 10F3:0A Diagnosis Message 005
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.11 10F3:0B Diagnosis Message 006
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 17Version: 1.0
2.1.7.12 10F3:0C Diagnosis Message 007
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.13 10F3:0D Diagnosis Message 008
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.14 10F3:0E Diagnosis Message 009
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary18 Version: 1.0
2.1.7.15 10F3:0F Diagnosis Message 010
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.16 10F3:10 Diagnosis Message 011
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x10Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.17 10F3:11 Diagnosis Message 012
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x11Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 19Version: 1.0
2.1.7.18 10F3:12 Diagnosis Message 013
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x12Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.19 10F3:13 Diagnosis Message 014
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x13Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.20 10F3:14 Diagnosis Message 015
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x14Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary20 Version: 1.0
2.1.7.21 10F3:15 Diagnosis Message 016
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x15Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.22 10F3:16 Diagnosis Message 017
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x16Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.23 10F3:17 Diagnosis Message 018
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x17Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 21Version: 1.0
2.1.7.24 10F3:18 Diagnosis Message 019
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x18Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.25 10F3:19 Diagnosis Message 020
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x19Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.26 10F3:1A Diagnosis Message 021
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary22 Version: 1.0
2.1.7.27 10F3:1B Diagnosis Message 022
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.28 10F3:1C Diagnosis Message 023
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.29 10F3:1D Diagnosis Message 024
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 23Version: 1.0
2.1.7.30 10F3:1E Diagnosis Message 025
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.31 10F3:1F Diagnosis Message 026
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.32 10F3:20 Diagnosis Message 027
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x20Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary24 Version: 1.0
2.1.7.33 10F3:21 Diagnosis Message 028
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x21Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.34 10F3:22 Diagnosis Message 029
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x22Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.7.35 10F3:23 Diagnosis Message 030
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x23Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 25Version: 1.0
2.1.8 10F8 Actual Time Stampsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x10F8 (Device)Subindex 0x00Datatype UINT64Min. ValueDefaultMax. ValueUnit nsAccess / EtherCAT-State RoPDO MappingRevision All
2.1.9 1C00:x Sync manager typesee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.9.1 1C00:01 SubIndex 001
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x01Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary26 Version: 1.0
2.1.9.2 1C00:02 SubIndex 002
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x02Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.9.3 1C00:03 SubIndex 003
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x03Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.9.4 1C00:04 SubIndex 004
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x04Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 27Version: 1.0
2.1.10 1C12:x RxPDO assignsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x00Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
2.1.11 1C13:x TxPDO assignsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x00Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
2.1.11.1 1C13:01 Subindex 001
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 6656 (0x1A00)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary28 Version: 1.0
2.1.11.2 1C13:02 Subindex 002
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
2.1.11.3 1C13:03 Subindex 003
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x03Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
2.1.11.4 1C13:04 Subindex 004
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x04Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 29Version: 1.0
2.1.11.5 1C13:05 Subindex 005
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x05Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
2.1.11.6 1C13:06 Subindex 006
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x06Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
2.1.11.7 1C13:07 Subindex 007
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x07Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary30 Version: 1.0
2.1.11.8 1C13:08 Subindex 008
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x08Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
2.1.12 1C33:x SM input parametersee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 32 (0x20)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.12.1 1C33:01 Sync mode
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 31Version: 1.0
2.1.12.2 1C33:02 Cycle time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 125000 (0x0001E848)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.12.3 1C33:03 Shift time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x03Datatype UINT32Min. ValueDefault 900 (0x00000384)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.12.4 1C33:04 Sync modes supported
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x04Datatype UINT16Min. ValueDefault 2052 (0x0804)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary32 Version: 1.0
2.1.12.5 1C33:05 Minimum cycle time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x05Datatype UINT32Min. ValueDefault 125000 (0x0001E848)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.12.6 1C33:06 Calc and copy time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x06Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.12.7 1C33:07 Minimum delay time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x07Datatype UINT32Min. ValueDefault 900 (0x00000384)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 33Version: 1.0
2.1.12.8 1C33:08 Command
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x08Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.12.9 1C33:09 Maximum delay time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x09Datatype UINT32Min. ValueDefault 900 (0x00000384)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.12.10 1C33:0B SM event missed counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary34 Version: 1.0
2.1.12.11 1C33:0C Cycle exceeded counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.12.12 1C33:0D Shift too short counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x0DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.12.13 1C33:20 Sync error
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x20Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 35Version: 1.0
2.1.13 6000:x PSM Controlword for axisDescription ValueIndex 0x6000 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 12 (0x0C)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.13.1 6000:01 Non-generative brake order_n
Order for the axis to brake without generating energy back in the power supply module. Active low
Description ValueIndex 0x6000 (Device)Subindex 0x01Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.13.2 6000:02 Ready to operate
High if no errors, mains voltage between tolerances, dc link loaded and relays closed. It allows the axis to beenabled. If this gets low in operation, the axis do not be disabled but rather it avoids the axis to be enabledagain.
Description ValueIndex 0x6000 (Device)Subindex 0x02Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary36 Version: 1.0
2.1.13.3 6000:03 TorqueOFF order_n
Order for the axis to switch off the torque. Active low
Description ValueIndex 0x6000 (Device)Subindex 0x03Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.13.4 6000:04 Generative brake order_n
Order for the axis to brake generating energy back in the power supply module. Active low
Description ValueIndex 0x6000 (Device)Subindex 0x04Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.13.5 6000:05 Limit dc link current_order_n
Order for the axis to limit the requested current from the DC link. Active low. Cause: Motoric load (6001:04)greater than 102%.
Description ValueIndex 0x6000 (Device)Subindex 0x05Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary 37Version: 1.0
2.1.13.6 6000:06 NC handling_order_n
Order for the NC to handle. Active low
Description ValueIndex 0x6000 (Device)Subindex 0x06Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.13.7 6000:0C Counter
Sign for the axis, that the power supply module is in SAFEOP or OP.
Description ValueIndex 0x6000 (Device)Subindex 0x0CDatatype BIT5Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary38 Version: 1.0
2.1.14 6001:x PSM Actual process valuesDescription ValueIndex 0x6001 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 6 (0x06)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.14.1 6001:01 Actual DC link voltage
Actual voltage value at the DC link.
Description ValueIndex 0x6001 (Device)Subindex 0x01Datatype UINT32Min. ValueDefaultMax. ValueUnit mVAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.14.2 6001:02 Actual mains voltage
Actual RMS-value of mains voltage
Description ValueIndex 0x6001 (Device)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnit mVAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary 39Version: 1.0
2.1.14.3 6001:03 Actual DC link current
Actual input current in the dc link.
Description ValueIndex 0x6001 (Device)Subindex 0x03Datatype INT16Min. ValueDefaultMax. ValueUnit 0,01 AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.14.4 6001:04 Actual motoric load
Actual input load in the dc link in percent of nominal current.
Description ValueIndex 0x6001 (Device)Subindex 0x04Datatype UINT16Min. ValueDefaultMax. ValueUnit %Access / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.14.5 6001:05 Actual brake resistor continuous power
Actual continuous power converted in the brake resistor.
Description ValueIndex 0x6001 (Device)Subindex 0x05Datatype UINT16Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary40 Version: 1.0
2.1.14.6 6001:06 Actual brake resistor short-time energy
Actual brake energy generated in last second in % of maximal short-time energy (by on-time 1s)
Description ValueIndex 0x6001 (Device)Subindex 0x06Datatype UINT16Min. ValueDefaultMax. ValueUnit %Access / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.15 6002:x PSM Warning registerDescription ValueIndex 0x6002 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.15.1 6002:01 Warning__A0 Reserviert
Description ValueIndex 0x6002 (Device)Subindex 0x01Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary 41Version: 1.0
2.1.15.2 6002:02 Warning__A1 Brake resistor power overload
Actual brake power or energy above brake resistor power warning threshold (8000:0D).
Description ValueIndex 0x6002 (Device)Subindex 0x02Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.15.3 6002:03 Warning__A2 Device overtemperature
Actual heatsink temperature above heatsink temperature warning threshold (8000:0A).
Description ValueIndex 0x6002 (Device)Subindex 0x03Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.15.4 6002:04 Warning__A3 DC link continuous overcurrent
DC link current above DC link continuous overcurrent warning threshold (8000:02).
Description ValueIndex 0x6002 (Device)Subindex 0x04Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary42 Version: 1.0
2.1.15.5 6002:05 Warning__A4 Fan malfunction
Fan does not work.
Description ValueIndex 0x6002 (Device)Subindex 0x05Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.15.6 6002:06 Warning__A5 Mains overvoltage
Actual mains voltage above mains voltage max tolerance (8000:07).
Description ValueIndex 0x6002 (Device)Subindex 0x06Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.15.7 6002:07 Warning__A6 Mains undervoltage
Actual mains voltage below mains voltage min tolerance (8000:08).
Description ValueIndex 0x6002 (Device)Subindex 0x07Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary 43Version: 1.0
2.1.16 6003:x PSM Diagnostics process dataDescription ValueIndex 0x6003 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.16.1 6003:01 DcLink state machine
Actual state of the DcLink state machine.
Description ValueIndex 0x6003 (Device)Subindex 0x01Datatype ENUM (UINT8)Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Enum Value Description9 (0x09) Err_TorqueOff8 (0x08) Err_WaitForDisabled7 (0x07) RtO_ChargeInOperation6 (0x06) RtO_PowerLoss5 (0x05) RtO_ShortPowerLoss4 (0x04) RtO_Run3 (0x03) CheckDcLinkMinVoltage2 (0x02) BypassChargeResistor1 (0x01) WaitingForCharging0 (0x00) StartBrakeResistorTest
Power supply modules
AX8000 Object Dictionary44 Version: 1.0
2.1.16.2 6003:02 Umains state machine
Actual state of the Umains state machine.
Description ValueIndex 0x6003 (Device)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Enum Value Description5 (0x05) UmainsLoss4 (0x04) UmainsTooLow3 (0x03) UmainsTooHigh2 (0x02) UmainsOk1 (0x01) PowerSupplyTypeDetection0 (0x00) UmainsOff
2.1.16.3 6003:03 Error code
This object shall provide the error code of the last error, which occurred in this power supply module.
Description ValueIndex 0x6003 (Device)Subindex 0x03Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary 45Version: 1.0
2.1.17 6004:x PSM Memory interface dataDescription ValueIndex 0x6004 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.17.1 6004:01 Data 1
Actual value of debug pointer 1.
Description ValueIndex 0x6004 (Device)Subindex 0x01Datatype INT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.17.2 6004:02 Data 2
Actual value of debug pointer 2.
Description ValueIndex 0x6004 (Device)Subindex 0x02Datatype INT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary46 Version: 1.0
2.1.18 6005:x PSM StatuswordDescription ValueIndex 0x6005 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 8 (0x08)Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.18.1 6005:01 Ready to operate
High if no errors, mains voltage between tolerances, dc link loaded and relays closed. It allows the axis to beenabled. If this gets low in operation, the axis do not be disabled but rather it avoids the axis to be enabledagain.
Description ValueIndex 0x6005 (Device)Subindex 0x01Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.18.2 6005:02 Error
High if any error is set. To know the error look at the Diag-History.
Description ValueIndex 0x6005 (Device)Subindex 0x02Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary 47Version: 1.0
2.1.18.3 6005:03 Warning
High if any warning is set. To know the warning look at the warning register (6002).
Description ValueIndex 0x6005 (Device)Subindex 0x03Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.18.4 6005:04 Relays closed
High if relays are closed.
Description ValueIndex 0x6005 (Device)Subindex 0x04Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.18.5 6005:05 Brake chopper active
High if brake chopper is switched on.
Description ValueIndex 0x6005 (Device)Subindex 0x05Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary48 Version: 1.0
2.1.18.6 6005:06 Fan active
High if fan is turning.
Description ValueIndex 0x6005 (Device)Subindex 0x06Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.18.7 6005:07 Reserve 6
Description ValueIndex 0x6005 (Device)Subindex 0x07Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
2.1.18.8 6005:08 Reserve 7
Description ValueIndex 0x6005 (Device)Subindex 0x08Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Power supply modules
AX8000 Object Dictionary 49Version: 1.0
2.1.19 8000:x PSM ParametersDescription ValueIndex 0x8000 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 14 (0x0E)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.19.1 8000:01 DC link max voltage
Threshold for dc link overvoltage error. The brake resistor switchOn threshold voltage 9006:12 (calculatedfrom this parameter) must be greater than mains overvoltage threshold xSqrt(2).
Description ValueIndex 0x8000 (Device)Subindex 0x01Datatype UINT16Min. Value 0Default 8750 (0x222E)Max. Value 8750 (0x222E)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
2.1.19.2 8000:02 DC link continuous overcurrent warning threshold
By actual motoric load (6001:04) above this value (percent of nominal dc link current) the DC link continuousovercurrent warning (6002:04) is set.
Description ValueIndex 0x8000 (Device)Subindex 0x02Datatype UINT16Min. Value 0Default 90 (0x005A)Max. Value 101 (0x0065)Unit %Access / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary50 Version: 1.0
2.1.19.3 8000:04 Mains type
According to this value following mains supply modes can be set: AC 3 phases (0), AC 1 phase (1) oder DC(2),
Description ValueIndex 0x8000 (Device)Subindex 0x04Datatype ENUM (UINT8)Min. ValueDefault AC 3 phases (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x02) DC1 (0x01) AC 1 phase0 (0x00) AC 3 phases
2.1.19.4 8000:06 Mains voltage
Connected mains RMS-voltage.
Description ValueIndex 0x8000 (Device)Subindex 0x06Datatype UINT16Min. Value 180 (0x00B4)Default 4000 (0x0FA0)Max. Value 7000 (0x1B58)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 51Version: 1.0
2.1.19.5 8000:07 Mains voltage max tolerance
Positive tolerance of parametrized mains voltage (8000:06), above that the mains overvoltage waning is set.For values >20% this threshold is also assumed to set the mains overvoltage error.
Description ValueIndex 0x8000 (Device)Subindex 0x07Datatype UINT16Min. Value 0Default 10 (0x000A)Max. Value 50 (0x0032)Unit %Access / EtherCAT-State RwPDO MappingRevision All
2.1.19.6 8000:08 Mains voltage min tolerance
Negative tolerance of parametrized mains voltage (8000:06), below that the mains undervoltage waning isset. For values >30% this threshold is also assumed to set the mains undervoltage error.
Description ValueIndex 0x8000 (Device)Subindex 0x08Datatype UINT16Min. Value 0Default 25 (0x0019)Max. Value 50 (0x0032)Unit %Access / EtherCAT-State RwPDO MappingRevision All
2.1.19.7 8000:0A Device temperature warning threshold
Percent of heatsink max temperature, above which the device overtemperature warning (6002:03) is set.
Description ValueIndex 0x8000 (Device)Subindex 0x0ADatatype UINT16Min. Value 0Default 90 (0x005A)Max. Value 101 (0x0065)Unit %Access / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary52 Version: 1.0
2.1.19.8 8000:0B External brake resistor value
Resistance value of brake resistor. The default value is the resistance of the internal brake resistor.
Description ValueIndex 0x8000 (Device)Subindex 0x0BDatatype UINT16Min. Value 330 (0x014A)Default 330 (0x014A)Max. Value 500 (0x01F4)Unit 0,1 WAccess / EtherCAT-State RwPDO MappingRevision All
2.1.19.9 8000:0C External brake resistor continuous power
Threshold of brake continuous power, above which the error brake resistor overload by dc link overvoltage isset. A brake resistor power until 125% of this value is allowed, until the brake resistor is disabled.
Description ValueIndex 0x8000 (Device)Subindex 0x0CDatatype UINT16Min. Value 0Default 100 (0x0064)Max. Value 1600 (0x0640)Unit WAccess / EtherCAT-State RwPDO MappingRevision All
2.1.19.10 8000:0D Brake resistor power warning threshold
Percent of brake resistor max power (8000:0c) and percent of brake resistor max short time energy (1second on-time), above which the brake resistor power overload warning (6002:02) is set.
Description ValueIndex 0x8000 (Device)Subindex 0x0DDatatype UINT16Min. Value 0Default 90 (0x005A)Max. Value 101 (0x0065)Unit %Access / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 53Version: 1.0
2.1.19.11 8000:0E Brake resistor connection mode
According to this value following modes can be set: Internal(0) or external brake resistor(1),
Description ValueIndex 0x8000 (Device)Subindex 0x0EDatatype ENUM (UINT4)Min. ValueDefault Internal brake resistor (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description1 (0x01) External brake resistor0 (0x00) Internal brake resistor
Power supply modules
AX8000 Object Dictionary54 Version: 1.0
2.1.20 8001:x PSM Memory interface configDescription ValueIndex 0x8001 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.20.1 8001:01 Address 1
Memory address of internal variable for debug pointer 1.
Description ValueIndex 0x8001 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.20.2 8001:02 Address 2
Memory address of internal variable for debug pointer 2.
Description ValueIndex 0x8001 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 55Version: 1.0
2.1.20.3 8001:05 Byte lenght 1
Lenght in bytes of internal variable to be debugged by debug pointer 1.
Description ValueIndex 0x8001 (Device)Subindex 0x05Datatype ENUM (UINT8)Min. ValueDefault 2 byte (2)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description4 (0x04) 4 bytes2 (0x02) 2 byte1 (0x01) 1 bytes
2.1.20.4 8001:06 Byte lenght 2
Lenght in bytes of internal variable to be debugged by debug pointer 2.
Description ValueIndex 0x8001 (Device)Subindex 0x06Datatype ENUM (UINT8)Min. ValueDefault 2 bytes (2)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description4 (0x04) 4 bytes2 (0x02) 2 bytes1 (0x01) 1 bytes
Power supply modules
AX8000 Object Dictionary56 Version: 1.0
2.1.20.5 8001:07 Debug parameter
Memory address of internal variable for debug pointer 1.
Description ValueIndex 0x8001 (Device)Subindex 0x07Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.21 8002:x PSM Memory controlDescription ValueIndex 0x8002 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 5 (0x05)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.21.1 8002:01 Read error memory
By rising edge and slave in PREOP the error memory is read and shown at the diag-history.
Description ValueIndex 0x8002 (Device)Subindex 0x01Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 57Version: 1.0
2.1.21.2 8002:02 Reset error memory
By rising edge, slave in PREOP and right password the error memory is reseted. Internal use only.
Description ValueIndex 0x8002 (Device)Subindex 0x02Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.21.3 8002:03 Write ids
By rising edge, slave in PREOP and right password the pcb (9003, 9004, 9005, 9007) and device ids (9002)are written in the EEPROM. Internal use only.
Description ValueIndex 0x8002 (Device)Subindex 0x03Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.21.4 8002:04 Write factory settings
By rising edge, slave in PREOP and right password the factory settings (2000) are written in the EEPROM.Internal use only.
Description ValueIndex 0x8002 (Device)Subindex 0x04Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary58 Version: 1.0
2.1.21.5 8002:05 Reset operating time
By rising edge, slave in PREOP and right password the operating time (A000:01) is reseted. Internal useonly.
Description ValueIndex 0x8002 (Device)Subindex 0x05Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.22 8003 PSM Reset errorsDescription ValueIndex 0x8003 (Device)Subindex 0x00Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 59Version: 1.0
2.1.23 8004:x PSM Parameters error managerDescription ValueIndex 0x8004 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.23.1 8004:01 Choose force reaction
This object shall indicate the forced error reaction.
Description ValueIndex 0x8004 (Device)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault BrakeChopperOff (-4)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description0 (0x0000) TorqueOffOrder-1 (0xFFFF) NCHandlingOrder-2 (0xFFFE) NonGenerativeBrakeOrder-3 (0xFFFD) GenerativeBrakeOrder-4 (0xFFFC) BrakeChopperOff
Power supply modules
AX8000 Object Dictionary60 Version: 1.0
2.1.23.2 8004:02 Force reaction
This object is to perform the forced error reaction.
Description ValueIndex 0x8004 (Device)Subindex 0x02Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.24 8005:x PSM Factory settingsDescription ValueIndex 0x8005 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 18 (0x12)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.24.1 8005:01 DC link current scaling gain
Description ValueIndex 0x8005 (Device)Subindex 0x01Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit 0,01 A/(2^x dig.)Access / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 61Version: 1.0
2.1.24.2 8005:02 DC link current offset
Description ValueIndex 0x8005 (Device)Subindex 0x02Datatype INT16Min. Value -50 (0xFFCE)Default 0Max. Value 50 (0x0032)Unit 0,01 AAccess / EtherCAT-State RwPDO MappingRevision All
2.1.24.3 8005:03 DC link voltage scaling gain
Description ValueIndex 0x8005 (Device)Subindex 0x03Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit V/(2^x dig.)Access / EtherCAT-State RwPDO MappingRevision All
2.1.24.4 8005:04 DC link voltage offset
Description ValueIndex 0x8005 (Device)Subindex 0x04Datatype INT16Min. Value -50 (0xFFCE)Default 0Max. Value 50 (0x0032)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary62 Version: 1.0
2.1.24.5 8005:05 Mains voltage scaling gain 1
Description ValueIndex 0x8005 (Device)Subindex 0x05Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit V/(2^x dig.)Access / EtherCAT-State RwPDO MappingRevision All
2.1.24.6 8005:06 Mains voltage offset1
Description ValueIndex 0x8005 (Device)Subindex 0x06Datatype INT16Min. Value -50 (0xFFCE)Default 0Max. Value 50 (0x0032)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
2.1.24.7 8005:07 Mains voltage scaling gain 2
Description ValueIndex 0x8005 (Device)Subindex 0x07Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 63Version: 1.0
2.1.24.8 8005:08 Mains voltage offset 2
Description ValueIndex 0x8005 (Device)Subindex 0x08Datatype INT16Min. Value -50 (0xFFCE)Default 0Max. Value 50 (0x0032)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
2.1.24.9 8005:09 Mains voltage scaling gain 3
Description ValueIndex 0x8005 (Device)Subindex 0x09Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
2.1.24.10 8005:0A Mains voltage offset 3
Description ValueIndex 0x8005 (Device)Subindex 0x0ADatatype INT16Min. Value -50 (0xFFCE)Default 0Max. Value 50 (0x0032)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary64 Version: 1.0
2.1.24.11 8005:10 Checksum
Description ValueIndex 0x8005 (Device)Subindex 0x10Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.24.12 8005:11 Control word
Description ValueIndex 0x8005 (Device)Subindex 0x11Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.24.13 8005:12 Rated brake resistor power
Description ValueIndex 0x8005 (Device)Subindex 0x12Datatype UINT16Min. ValueDefault 0Max. ValueUnit WAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 65Version: 1.0
2.1.25 9002:x PSM Device idsDescription ValueIndex 0x9002 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 15 (0x0F)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.25.1 9002:01 Vendor id
Description ValueIndex 0x9002 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.25.2 9002:02 Product code
Description ValueIndex 0x9002 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary66 Version: 1.0
2.1.25.3 9002:03 Revision no
Description ValueIndex 0x9002 (Device)Subindex 0x03Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.25.4 9002:04 Serial no
Description ValueIndex 0x9002 (Device)Subindex 0x04Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.25.5 9002:05 Manufacturing date
Description ValueIndex 0x9002 (Device)Subindex 0x05Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 67Version: 1.0
2.1.25.6 9002:06 HW id 1
Description ValueIndex 0x9002 (Device)Subindex 0x06Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.25.7 9002:0A HW id 2
Description ValueIndex 0x9002 (Device)Subindex 0x0ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.25.8 9002:0B HW id 3
Description ValueIndex 0x9002 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary68 Version: 1.0
2.1.25.9 9002:0C HW id 4
Description ValueIndex 0x9002 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.25.10 9002:0D Free switch code 1
Description ValueIndex 0x9002 (Device)Subindex 0x0DDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.25.11 9002:0E Free switch code 2
Description ValueIndex 0x9002 (Device)Subindex 0x0EDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 69Version: 1.0
2.1.25.12 9002:0F Checksum
Description ValueIndex 0x9002 (Device)Subindex 0x0FDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.26 9003:x PSM Power pcb idsDescription ValueIndex 0x9003 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 26 (0x1A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.26.1 9003:01 Structure version
Description ValueIndex 0x9003 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary70 Version: 1.0
2.1.26.2 9003:02 Manufacturing date
Description ValueIndex 0x9003 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.3 9003:03 HwId reserve
Description ValueIndex 0x9003 (Device)Subindex 0x03Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.4 9003:04 HwId Hardware type
Description ValueIndex 0x9003 (Device)Subindex 0x04Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 71Version: 1.0
2.1.26.5 9003:05 HwId Feature flags
Description ValueIndex 0x9003 (Device)Subindex 0x05Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.6 9003:06 HwId Supplier
Description ValueIndex 0x9003 (Device)Subindex 0x06Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.7 9003:07 HwId Component type
Description ValueIndex 0x9003 (Device)Subindex 0x07Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary72 Version: 1.0
2.1.26.8 9003:08 HwId reserve 2
Description ValueIndex 0x9003 (Device)Subindex 0x08Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.9 9003:09 HwId Hardware index
Description ValueIndex 0x9003 (Device)Subindex 0x09Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.10 9003:0A HwId Pcb revision
Description ValueIndex 0x9003 (Device)Subindex 0x0ADatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 73Version: 1.0
2.1.26.11 9003:0B HwId Pcb type
Description ValueIndex 0x9003 (Device)Subindex 0x0BDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.12 9003:0C HwId Supported no of channels
Description ValueIndex 0x9003 (Device)Subindex 0x0CDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.13 9003:0D HwId Firmware index
Description ValueIndex 0x9003 (Device)Subindex 0x0DDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary74 Version: 1.0
2.1.26.14 9003:0F DMC 1
Description ValueIndex 0x9003 (Device)Subindex 0x0FDatatype UINT8Min. ValueDefault 48 (0x30)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.15 9003:10 DMC 2
Description ValueIndex 0x9003 (Device)Subindex 0x10Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.16 9003:11 DMC 3
Description ValueIndex 0x9003 (Device)Subindex 0x11Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 75Version: 1.0
2.1.26.17 9003:12 DMC 4
Description ValueIndex 0x9003 (Device)Subindex 0x12Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.18 9003:13 DMC 5
Description ValueIndex 0x9003 (Device)Subindex 0x13Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.19 9003:14 DMC 6
Description ValueIndex 0x9003 (Device)Subindex 0x14Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary76 Version: 1.0
2.1.26.20 9003:15 DMC 7
Description ValueIndex 0x9003 (Device)Subindex 0x15Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.21 9003:16 DMC 8
Description ValueIndex 0x9003 (Device)Subindex 0x16Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.22 9003:17 DMC 9
Description ValueIndex 0x9003 (Device)Subindex 0x17Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 77Version: 1.0
2.1.26.23 9003:18 DMC 10
Description ValueIndex 0x9003 (Device)Subindex 0x18Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.26.24 9003:1A Checksum
Description ValueIndex 0x9003 (Device)Subindex 0x1ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary78 Version: 1.0
2.1.27 9004:x PSM Link pcb idsDescription ValueIndex 0x9004 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 26 (0x1A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.27.1 9004:01 Structure version
Description ValueIndex 0x9004 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.2 9004:02 Manufacturing date
Description ValueIndex 0x9004 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 79Version: 1.0
2.1.27.3 9004:03 HwId reserve
Description ValueIndex 0x9004 (Device)Subindex 0x03Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.4 9004:04 HwId Hardware type
Description ValueIndex 0x9004 (Device)Subindex 0x04Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.5 9004:05 HwId Feature flags
Description ValueIndex 0x9004 (Device)Subindex 0x05Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary80 Version: 1.0
2.1.27.6 9004:06 HwId Supplier
Description ValueIndex 0x9004 (Device)Subindex 0x06Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.7 9004:07 HwId Component type
Description ValueIndex 0x9004 (Device)Subindex 0x07Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.8 9004:08 HwId reserve 2
Description ValueIndex 0x9004 (Device)Subindex 0x08Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 81Version: 1.0
2.1.27.9 9004:09 HwId Hardware index
Description ValueIndex 0x9004 (Device)Subindex 0x09Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.10 9004:0A HwId Pcb revision
Description ValueIndex 0x9004 (Device)Subindex 0x0ADatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.11 9004:0B HwId Pcb type
Description ValueIndex 0x9004 (Device)Subindex 0x0BDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary82 Version: 1.0
2.1.27.12 9004:0C HwId Supported no of channels
Description ValueIndex 0x9004 (Device)Subindex 0x0CDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.13 9004:0D HwId Firmware index
Description ValueIndex 0x9004 (Device)Subindex 0x0DDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.14 9004:0F DMC 1
Description ValueIndex 0x9004 (Device)Subindex 0x0FDatatype UINT8Min. ValueDefault 48 (0x30)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 83Version: 1.0
2.1.27.15 9004:10 DMC 2
Description ValueIndex 0x9004 (Device)Subindex 0x10Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.16 9004:11 DMC 3
Description ValueIndex 0x9004 (Device)Subindex 0x11Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.17 9004:12 DMC 4
Description ValueIndex 0x9004 (Device)Subindex 0x12Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary84 Version: 1.0
2.1.27.18 9004:13 DMC 5
Description ValueIndex 0x9004 (Device)Subindex 0x13Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.19 9004:14 DMC 6
Description ValueIndex 0x9004 (Device)Subindex 0x14Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.20 9004:15 DMC 7
Description ValueIndex 0x9004 (Device)Subindex 0x15Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 85Version: 1.0
2.1.27.21 9004:16 DMC 8
Description ValueIndex 0x9004 (Device)Subindex 0x16Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.22 9004:17 DMC 9
Description ValueIndex 0x9004 (Device)Subindex 0x17Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.27.23 9004:18 DMC 10
Description ValueIndex 0x9004 (Device)Subindex 0x18Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary86 Version: 1.0
2.1.27.24 9004:1A Checksum
Description ValueIndex 0x9004 (Device)Subindex 0x1ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28 9005:x PSM Option pcb idsDescription ValueIndex 0x9005 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 26 (0x1A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.28.1 9005:01 Structure version
Description ValueIndex 0x9005 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 87Version: 1.0
2.1.28.2 9005:02 Manufacturing date
Description ValueIndex 0x9005 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.3 9005:03 HwId reserve
Description ValueIndex 0x9005 (Device)Subindex 0x03Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.4 9005:04 HwId Hardware type
Description ValueIndex 0x9005 (Device)Subindex 0x04Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary88 Version: 1.0
2.1.28.5 9005:05 HwId Feature flags
Description ValueIndex 0x9005 (Device)Subindex 0x05Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.6 9005:06 HwId Supplier
Description ValueIndex 0x9005 (Device)Subindex 0x06Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.7 9005:07 HwId Component type
Description ValueIndex 0x9005 (Device)Subindex 0x07Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 89Version: 1.0
2.1.28.8 9005:08 HwId reserve 2
Description ValueIndex 0x9005 (Device)Subindex 0x08Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.9 9005:09 HwId Hardware index
Description ValueIndex 0x9005 (Device)Subindex 0x09Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.10 9005:0A HwId Pcb revision
Description ValueIndex 0x9005 (Device)Subindex 0x0ADatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary90 Version: 1.0
2.1.28.11 9005:0B HwId Pcb type
Description ValueIndex 0x9005 (Device)Subindex 0x0BDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.12 9005:0C HwId Supported no of channels
Description ValueIndex 0x9005 (Device)Subindex 0x0CDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.13 9005:0D HwId Firmware index
Description ValueIndex 0x9005 (Device)Subindex 0x0DDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 91Version: 1.0
2.1.28.14 9005:0F DMC 1
Description ValueIndex 0x9005 (Device)Subindex 0x0FDatatype UINT8Min. ValueDefault 48 (0x30)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.15 9005:10 DMC 2
Description ValueIndex 0x9005 (Device)Subindex 0x10Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.16 9005:11 DMC 3
Description ValueIndex 0x9005 (Device)Subindex 0x11Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary92 Version: 1.0
2.1.28.17 9005:12 DMC 4
Description ValueIndex 0x9005 (Device)Subindex 0x12Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.18 9005:13 DMC 5
Description ValueIndex 0x9005 (Device)Subindex 0x13Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.19 9005:14 DMC 6
Description ValueIndex 0x9005 (Device)Subindex 0x14Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 93Version: 1.0
2.1.28.20 9005:15 DMC 7
Description ValueIndex 0x9005 (Device)Subindex 0x15Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.21 9005:16 DMC 8
Description ValueIndex 0x9005 (Device)Subindex 0x16Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.22 9005:17 DMC 9
Description ValueIndex 0x9005 (Device)Subindex 0x17Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary94 Version: 1.0
2.1.28.23 9005:18 DMC 10
Description ValueIndex 0x9005 (Device)Subindex 0x18Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.28.24 9005:1A Checksum
Description ValueIndex 0x9005 (Device)Subindex 0x1ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 95Version: 1.0
2.1.29 9006:x PSM Internal infoDescription ValueIndex 0x9006 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 12 (0x0C)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.29.1 9006:01 DC link nominal current
Nominal current supported by device at DC link.
Description ValueIndex 0x9006 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 2000 (0x07D0)Max. ValueUnit 0,01 AAccess / EtherCAT-State RoPDO MappingRevision All
2.1.29.2 9006:02 DC link peak overcurrent threshold
Current threshold to set the error "Peak over current (device output side)".
Description ValueIndex 0x9006 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 4000 (0x0FA0)Max. ValueUnit 0,01 AAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary96 Version: 1.0
2.1.29.3 9006:03 24V-Supply nominal current
Nominal current of the 24V-supply supported by device.
Description ValueIndex 0x9006 (Device)Subindex 0x03Datatype UINT16Min. ValueDefault 2000 (0x07D0)Max. ValueUnit 0,01 AAccess / EtherCAT-State RoPDO MappingRevision All
2.1.29.4 9006:04 Device max temperature
Maximal heatsink temperature supported by device, above which the error "Excess temperature device" isset.
Description ValueIndex 0x9006 (Device)Subindex 0x04Datatype UINT16Min. ValueDefault 800 (0x0320)Max. ValueUnit 0,1 °CAccess / EtherCAT-State RoPDO MappingRevision All
2.1.29.5 9006:05 Internal brake resistor value
Resistance value of the internal brake resistor.
Description ValueIndex 0x9006 (Device)Subindex 0x05Datatype UINT16Min. ValueDefault 330 (0x014A)Max. ValueUnit 0,1 WAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 97Version: 1.0
2.1.29.6 9006:06 Internal brake resistor max power
Maximal continuous power of the internal brake resistor.
Description ValueIndex 0x9006 (Device)Subindex 0x06Datatype UINT16Min. ValueDefault 100 (0x0064)Max. ValueUnit WAccess / EtherCAT-State RoPDO MappingRevision All
2.1.29.7 9006:07 DC link max threshold voltage
Maximal DC link voltage threshold supported by device.
Description ValueIndex 0x9006 (Device)Subindex 0x07Datatype UINT16Min. ValueDefault 9200 (0x23F0)Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All
2.1.29.8 9006:08 DC link min voltage
Minimal DC link voltage for device to be ready to operate.
Description ValueIndex 0x9006 (Device)Subindex 0x08Datatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary98 Version: 1.0
2.1.29.9 9006:09 Brake chopper switchOn threshold voltage
Voltage threshold, above which the brake chopper is switched on.
Description ValueIndex 0x9006 (Device)Subindex 0x09Datatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All
2.1.29.10 9006:0A Brake chopper switchOff threshold voltage
Voltage threshold, below which the brake chopper is switched off.
Description ValueIndex 0x9006 (Device)Subindex 0x0ADatatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All
2.1.29.11 9006:0B Mains voltage max threshold
Maximal DC link voltage threshold supported by device.
Description ValueIndex 0x9006 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 99Version: 1.0
2.1.29.12 9006:0C Mains voltage min threshold
Maximal DC link voltage threshold supported by device.
Description ValueIndex 0x9006 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All
2.1.30 9007:x PSM Display pcb idsDescription ValueIndex 0x9007 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 26 (0x1A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.30.1 9007:01 Structure version
Description ValueIndex 0x9007 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary100 Version: 1.0
2.1.30.2 9007:02 Manufacturing date
Description ValueIndex 0x9007 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.3 9007:03 HwId reserve
Description ValueIndex 0x9007 (Device)Subindex 0x03Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.4 9007:04 HwId Hardware type
Description ValueIndex 0x9007 (Device)Subindex 0x04Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 101Version: 1.0
2.1.30.5 9007:05 HwId Feature flags
Description ValueIndex 0x9007 (Device)Subindex 0x05Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.6 9007:06 HwId Supplier
Description ValueIndex 0x9007 (Device)Subindex 0x06Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.7 9007:07 HwId Component type
Description ValueIndex 0x9007 (Device)Subindex 0x07Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary102 Version: 1.0
2.1.30.8 9007:08 HwId reserve 2
Description ValueIndex 0x9007 (Device)Subindex 0x08Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.9 9007:09 HwId Hardware index
Description ValueIndex 0x9007 (Device)Subindex 0x09Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.10 9007:0A HwId Pcb revision
Description ValueIndex 0x9007 (Device)Subindex 0x0ADatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 103Version: 1.0
2.1.30.11 9007:0B HwId Pcb type
Description ValueIndex 0x9007 (Device)Subindex 0x0BDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.12 9007:0C HwId Supported no of channels
Description ValueIndex 0x9007 (Device)Subindex 0x0CDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.13 9007:0D HwId Firmware index
Description ValueIndex 0x9007 (Device)Subindex 0x0DDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary104 Version: 1.0
2.1.30.14 9007:0F DMC 1
Description ValueIndex 0x9007 (Device)Subindex 0x0FDatatype UINT8Min. ValueDefault 48 (0x30)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.15 9007:10 DMC 2
Description ValueIndex 0x9007 (Device)Subindex 0x10Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.16 9007:11 DMC 3
Description ValueIndex 0x9007 (Device)Subindex 0x11Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 105Version: 1.0
2.1.30.17 9007:12 DMC 4
Description ValueIndex 0x9007 (Device)Subindex 0x12Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.18 9007:13 DMC 5
Description ValueIndex 0x9007 (Device)Subindex 0x13Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.19 9007:14 DMC 6
Description ValueIndex 0x9007 (Device)Subindex 0x14Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary106 Version: 1.0
2.1.30.20 9007:15 DMC 7
Description ValueIndex 0x9007 (Device)Subindex 0x15Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.21 9007:16 DMC 8
Description ValueIndex 0x9007 (Device)Subindex 0x16Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.22 9007:17 DMC 9
Description ValueIndex 0x9007 (Device)Subindex 0x17Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 107Version: 1.0
2.1.30.23 9007:18 DMC 10
Description ValueIndex 0x9007 (Device)Subindex 0x18Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
2.1.30.24 9007:1A Checksum
Description ValueIndex 0x9007 (Device)Subindex 0x1ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary108 Version: 1.0
2.1.31 A000:x PSM Actual internal valuesDescription ValueIndex 0xA000 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.31.1 A000:01 Operating time
Total time of device life, in which the device has been turned on.
Description ValueIndex 0xA000 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.31.2 A000:02 Actual device temperature
Actual temperature of the heatsink.
Description ValueIndex 0xA000 (Device)Subindex 0x02Datatype INT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 109Version: 1.0
2.1.31.3 A000:03 Umains frequency
Measured frequency of mains voltage.
Description ValueIndex 0xA000 (Device)Subindex 0x03Datatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.31.4 A000:04 Mains type
Measured mains type.
Description ValueIndex 0xA000 (Device)Subindex 0x04Datatype ENUM (UINT4)Min. ValueDefault AC 3 phases (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description3 (0x03) Not recognized2 (0x02) DC 1 phase1 (0x01) AC 1 phase0 (0x00) AC 3 phases
Power supply modules
AX8000 Object Dictionary110 Version: 1.0
2.1.32 A001:x PSM Internal diagnosticsDescription ValueIndex 0xA001 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.32.1 A001:01 EtherCAT ISR overflow
Overflow in the EtherCAT interrupt routine happened. High active.
Description ValueIndex 0xA001 (Device)Subindex 0x01Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.32.2 A001:02 User ISR overflow
Overflow in the user interrupt routine happened. High active.
Description ValueIndex 0xA001 (Device)Subindex 0x02Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 111Version: 1.0
2.1.32.3 A001:03 Main timeout
Timeout of the main routine happened. High active.
Description ValueIndex 0xA001 (Device)Subindex 0x03Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.33 A002:x PSM DiagnosticsDescription ValueIndex 0xA002 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.33.1 A002:01 Diagnostic number
This object shall provide the error code of the first error, which occurred in this power supply module.
Description ValueIndex 0xA002 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary112 Version: 1.0
2.1.34 F000:x Modular device profilesee ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF000 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.34.1 F000:01 Module index distance
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF000 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 16 (0x0010)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
2.1.34.2 F000:02 Maximum number of modules
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF000 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 1 (0x0001)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary 113Version: 1.0
2.1.35 F008 Code wordsee ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF008 (Device)Subindex 0x00Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Power supply modules
AX8000 Object Dictionary114 Version: 1.0
2.1.36 F010:x Module listsee ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF010 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
2.1.36.1 F010:01 SubIndex 001
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF010 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 960 (0x000003C0)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 115Version: 1.0
3 Axis modules
3.1 Standard-Objects
3.1.1 1000 Device typesee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1000 (Device)Subindex 0x00Datatype UINT32Min. ValueDefault 402 (0x00000192)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary116 Version: 1.0
3.1.2 1001 Error registersee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1001 (Device)Subindex 0x00Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 117Version: 1.0
3.1.3 1008 Device namesee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1008 (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault AX8206-0000Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary118 Version: 1.0
3.1.4 1009 Hardware versionsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1009 (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault 00Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 119Version: 1.0
3.1.5 100A Software versionsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x100A (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault 0123456789012345678901234567890123456789Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary120 Version: 1.0
3.1.6 1018:x Identitysee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.6.1 1018:01 Vendor ID
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 2 (0x00000002)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.6.2 1018:02 Product code
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 537813010 (0x200E6012)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 121Version: 1.0
3.1.6.3 1018:03 Revision
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.6.4 1018:04 Serial number
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1018 (Device)Subindex 0x04Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary122 Version: 1.0
3.1.7 10F3:x Diagnosis Historysee ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 105 (0x69)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.1 10F3:01 Maximum Messages
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x01Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.2 10F3:02 Newest Message
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x02Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 123Version: 1.0
3.1.7.3 10F3:03 Newest Acknowledged Message
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x03Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.7.4 10F3:04 New Messages Available
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x04Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.5 10F3:05 Flags
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x05Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary124 Version: 1.0
3.1.7.6 10F3:06 Diagnosis Message 001
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x06Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.7 10F3:07 Diagnosis Message 002
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x07Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.8 10F3:08 Diagnosis Message 003
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x08Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 125Version: 1.0
3.1.7.9 10F3:09 Diagnosis Message 004
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x09Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.10 10F3:0A Diagnosis Message 005
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.11 10F3:0B Diagnosis Message 006
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary126 Version: 1.0
3.1.7.12 10F3:0C Diagnosis Message 007
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.13 10F3:0D Diagnosis Message 008
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.14 10F3:0E Diagnosis Message 009
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 127Version: 1.0
3.1.7.15 10F3:0F Diagnosis Message 010
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x0FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.16 10F3:10 Diagnosis Message 011
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x10Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.17 10F3:11 Diagnosis Message 012
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x11Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary128 Version: 1.0
3.1.7.18 10F3:12 Diagnosis Message 013
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x12Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.19 10F3:13 Diagnosis Message 014
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x13Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.20 10F3:14 Diagnosis Message 015
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x14Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 129Version: 1.0
3.1.7.21 10F3:15 Diagnosis Message 016
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x15Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.22 10F3:16 Diagnosis Message 017
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x16Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.23 10F3:17 Diagnosis Message 018
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x17Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary130 Version: 1.0
3.1.7.24 10F3:18 Diagnosis Message 019
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x18Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.25 10F3:19 Diagnosis Message 020
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x19Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.26 10F3:1A Diagnosis Message 021
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 131Version: 1.0
3.1.7.27 10F3:1B Diagnosis Message 022
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.28 10F3:1C Diagnosis Message 023
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.29 10F3:1D Diagnosis Message 024
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary132 Version: 1.0
3.1.7.30 10F3:1E Diagnosis Message 025
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.31 10F3:1F Diagnosis Message 026
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x1FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.32 10F3:20 Diagnosis Message 027
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x20Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 133Version: 1.0
3.1.7.33 10F3:21 Diagnosis Message 028
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x21Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.34 10F3:22 Diagnosis Message 029
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x22Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.35 10F3:23 Diagnosis Message 030
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x23Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary134 Version: 1.0
3.1.7.36 10F3:24 Diagnosis Message 031
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x24Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.37 10F3:25 Diagnosis Message 032
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x25Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.38 10F3:26 Diagnosis Message 033
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x26Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 135Version: 1.0
3.1.7.39 10F3:27 Diagnosis Message 034
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x27Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.40 10F3:28 Diagnosis Message 035
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x28Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.41 10F3:29 Diagnosis Message 036
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x29Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary136 Version: 1.0
3.1.7.42 10F3:2A Diagnosis Message 037
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x2ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.43 10F3:2B Diagnosis Message 038
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x2BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.44 10F3:2C Diagnosis Message 039
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x2CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 137Version: 1.0
3.1.7.45 10F3:2D Diagnosis Message 040
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x2DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.46 10F3:2E Diagnosis Message 041
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x2EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.47 10F3:2F Diagnosis Message 042
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x2FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary138 Version: 1.0
3.1.7.48 10F3:30 Diagnosis Message 043
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x30Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.49 10F3:31 Diagnosis Message 044
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x31Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.50 10F3:32 Diagnosis Message 045
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x32Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 139Version: 1.0
3.1.7.51 10F3:33 Diagnosis Message 046
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x33Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.52 10F3:34 Diagnosis Message 047
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x34Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.53 10F3:35 Diagnosis Message 048
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x35Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary140 Version: 1.0
3.1.7.54 10F3:36 Diagnosis Message 049
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x36Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.55 10F3:37 Diagnosis Message 050
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x37Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.56 10F3:38 Diagnosis Message 051
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x38Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 141Version: 1.0
3.1.7.57 10F3:39 Diagnosis Message 052
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x39Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.58 10F3:3A Diagnosis Message 053
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x3ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.59 10F3:3B Diagnosis Message 054
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x3BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary142 Version: 1.0
3.1.7.60 10F3:3C Diagnosis Message 055
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x3CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.61 10F3:3D Diagnosis Message 056
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x3DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.62 10F3:3E Diagnosis Message 057
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x3EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 143Version: 1.0
3.1.7.63 10F3:3F Diagnosis Message 058
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x3FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.64 10F3:40 Diagnosis Message 059
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x40Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.65 10F3:41 Diagnosis Message 060
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x41Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary144 Version: 1.0
3.1.7.66 10F3:42 Diagnosis Message 061
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x42Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.67 10F3:43 Diagnosis Message 062
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x43Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.68 10F3:44 Diagnosis Message 063
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x44Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 145Version: 1.0
3.1.7.69 10F3:45 Diagnosis Message 064
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x45Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.70 10F3:46 Diagnosis Message 065
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x46Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.71 10F3:47 Diagnosis Message 066
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x47Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary146 Version: 1.0
3.1.7.72 10F3:48 Diagnosis Message 067
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x48Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.73 10F3:49 Diagnosis Message 068
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x49Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.74 10F3:4A Diagnosis Message 069
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x4ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 147Version: 1.0
3.1.7.75 10F3:4B Diagnosis Message 070
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x4BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.76 10F3:4C Diagnosis Message 071
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x4CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.77 10F3:4D Diagnosis Message 072
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x4DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary148 Version: 1.0
3.1.7.78 10F3:4E Diagnosis Message 073
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x4EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.79 10F3:4F Diagnosis Message 074
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x4FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.80 10F3:50 Diagnosis Message 075
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x50Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 149Version: 1.0
3.1.7.81 10F3:51 Diagnosis Message 076
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x51Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.82 10F3:52 Diagnosis Message 077
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x52Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.83 10F3:53 Diagnosis Message 078
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x53Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary150 Version: 1.0
3.1.7.84 10F3:54 Diagnosis Message 079
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x54Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.85 10F3:55 Diagnosis Message 080
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x55Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.86 10F3:56 Diagnosis Message 081
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x56Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 151Version: 1.0
3.1.7.87 10F3:57 Diagnosis Message 082
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x57Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.88 10F3:58 Diagnosis Message 083
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x58Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.89 10F3:59 Diagnosis Message 084
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x59Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary152 Version: 1.0
3.1.7.90 10F3:5A Diagnosis Message 085
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x5ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.91 10F3:5B Diagnosis Message 086
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x5BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.92 10F3:5C Diagnosis Message 087
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x5CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 153Version: 1.0
3.1.7.93 10F3:5D Diagnosis Message 088
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x5DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.94 10F3:5E Diagnosis Message 089
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x5EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.95 10F3:5F Diagnosis Message 090
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x5FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary154 Version: 1.0
3.1.7.96 10F3:60 Diagnosis Message 091
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x60Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.97 10F3:61 Diagnosis Message 092
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x61Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.98 10F3:62 Diagnosis Message 093
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x62Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 155Version: 1.0
3.1.7.99 10F3:63 Diagnosis Message 094
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x63Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.100 10F3:64 Diagnosis Message 095
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x64Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.101 10F3:65 Diagnosis Message 096
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x65Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary156 Version: 1.0
3.1.7.102 10F3:66 Diagnosis Message 097
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x66Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.103 10F3:67 Diagnosis Message 098
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x67Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.7.104 10F3:68 Diagnosis Message 099
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x68Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 157Version: 1.0
3.1.7.105 10F3:69 Diagnosis Message 100
see ETG.1020 Protocol Enhancements
Description ValueIndex 0x10F3 (Device)Subindex 0x69Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.8 10F8 Actual Time Stampsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x10F8 (Device)Subindex 0x00Datatype UINT64Min. ValueDefaultMax. ValueUnit nsAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary158 Version: 1.0
3.1.9 1C00:x Sync manager typesee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.9.1 1C00:01 SubIndex 001
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x01Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.9.2 1C00:02 SubIndex 002
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x02Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 159Version: 1.0
3.1.9.3 1C00:03 SubIndex 003
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x03Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.9.4 1C00:04 SubIndex 004
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C00 (Device)Subindex 0x04Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary160 Version: 1.0
3.1.10 1C12:x RxPDO assignsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x00Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.1 1C12:01 Subindex 001
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 5632 (0x1600)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.2 1C12:02 Subindex 002
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 5664 (0x1620)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 161Version: 1.0
3.1.10.3 1C12:03 Subindex 003
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x03Datatype UINT16Min. ValueDefault 5667 (0x1623)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.4 1C12:04 Subindex 004
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x04Datatype UINT16Min. ValueDefault 5696 (0x1640)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.5 1C12:05 Subindex 005
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x05Datatype UINT16Min. ValueDefault 5699 (0x1643)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary162 Version: 1.0
3.1.10.6 1C12:06 Subindex 006
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x06Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.7 1C12:07 Subindex 007
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x07Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.8 1C12:08 Subindex 008
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x08Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 163Version: 1.0
3.1.10.9 1C12:09 Subindex 009
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x09Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.10 1C12:0A Subindex 010
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x0ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.11 1C12:0B Subindex 011
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary164 Version: 1.0
3.1.10.12 1C12:0C Subindex 012
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.10.13 1C12:0D Subindex 013
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C12 (Device)Subindex 0x0DDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 165Version: 1.0
3.1.11 1C13:x TxPDO assignsee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x00Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.1 1C13:01 Subindex 001
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 6688 (0x1A20)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.2 1C13:02 Subindex 002
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 6694 (0x1A26)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary166 Version: 1.0
3.1.11.3 1C13:03 Subindex 003
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x03Datatype UINT16Min. ValueDefault 6720 (0x1A40)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.4 1C13:04 Subindex 004
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x04Datatype UINT16Min. ValueDefault 6726 (0x1A46)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.5 1C13:05 Subindex 005
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x05Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 167Version: 1.0
3.1.11.6 1C13:06 Subindex 006
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x06Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.7 1C13:07 Subindex 007
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x07Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.8 1C13:08 Subindex 008
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x08Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary168 Version: 1.0
3.1.11.9 1C13:09 Subindex 009
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x09Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.10 1C13:0A Subindex 010
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x0ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.11 1C13:0B Subindex 011
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 169Version: 1.0
3.1.11.12 1C13:0C Subindex 012
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.13 1C13:0D Subindex 013
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x0DDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.14 1C13:0E Subindex 014
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x0EDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary170 Version: 1.0
3.1.11.15 1C13:0F Subindex 015
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x0FDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.16 1C13:10 Subindex 016
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x10Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.17 1C13:11 Subindex 017
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x11Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 171Version: 1.0
3.1.11.18 1C13:12 Subindex 018
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x12Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.19 1C13:13 Subindex 019
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x13Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.20 1C13:14 Subindex 020
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x14Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary172 Version: 1.0
3.1.11.21 1C13:15 Subindex 021
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x15Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.22 1C13:16 Subindex 022
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x16Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.23 1C13:17 Subindex 023
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x17Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 173Version: 1.0
3.1.11.24 1C13:18 Subindex 024
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x18Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.25 1C13:19 Subindex 025
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x19Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.26 1C13:1A Subindex 026
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x1ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary174 Version: 1.0
3.1.11.27 1C13:1B Subindex 027
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x1BDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.28 1C13:1C Subindex 028
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x1CDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
3.1.11.29 1C13:1D Subindex 029
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C13 (Device)Subindex 0x1DDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 175Version: 1.0
3.1.12 1C32:x SM output parametersee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 32 (0x20)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.12.1 1C32:01 Sync mode
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.12.2 1C32:02 Cycle time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary176 Version: 1.0
3.1.12.3 1C32:03 Shift time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.12.4 1C32:04 Sync modes supported
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x04Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.12.5 1C32:05 Minimum cycle time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x05Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 177Version: 1.0
3.1.12.6 1C32:06 Calc and copy time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x06Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.12.7 1C32:08 Command
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x08Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.12.8 1C32:09 Maximum delay time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x09Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary178 Version: 1.0
3.1.12.9 1C32:0B SM event missed counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.12.10 1C32:0C Cycle exceeded counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.12.11 1C32:0D Shift too short counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x0DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 179Version: 1.0
3.1.12.12 1C32:20 Sync error
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C32 (Device)Subindex 0x20Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13 1C33:x SM input parametersee ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 32 (0x20)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.1 1C33:01 Sync mode
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary180 Version: 1.0
3.1.13.2 1C33:02 Cycle time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.3 1C33:03 Shift time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.4 1C33:04 Sync modes supported
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x04Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 181Version: 1.0
3.1.13.5 1C33:05 Minimum cycle time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x05Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.6 1C33:06 Calc and copy time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x06Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.7 1C33:07 Minimum delay time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x07Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary182 Version: 1.0
3.1.13.8 1C33:08 Command
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x08Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.9 1C33:09 Maximum delay time
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x09Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.10 1C33:0B SM event missed counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 183Version: 1.0
3.1.13.11 1C33:0C Cycle exceeded counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.12 1C33:0D Shift too short counter
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x0DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.13.13 1C33:20 Sync error
see ETG.1000.6 EtherCAT specification - CoE
Description ValueIndex 0x1C33 (Device)Subindex 0x20Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary184 Version: 1.0
3.1.14 F030:x Configured modulessee ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 96 (0x60)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.1 F030:01 SubIndex 001
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 196708 (0x00030064)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.2 F030:02 SubIndex 002
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 185Version: 1.0
3.1.14.3 F030:03 SubIndex 003
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x03Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.4 F030:04 SubIndex 004
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x04Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.5 F030:05 SubIndex 005
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x05Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary186 Version: 1.0
3.1.14.6 F030:06 SubIndex 006
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x06Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.7 F030:07 SubIndex 007
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x07Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.8 F030:08 SubIndex 008
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x08Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 187Version: 1.0
3.1.14.9 F030:09 SubIndex 009
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x09Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.10 F030:0A SubIndex 010
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x0ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.11 F030:0B SubIndex 011
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x0BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary188 Version: 1.0
3.1.14.12 F030:0C SubIndex 012
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x0CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.13 F030:0D SubIndex 013
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x0DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.14 F030:0E SubIndex 014
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x0EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 189Version: 1.0
3.1.14.15 F030:0F SubIndex 015
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x0FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.16 F030:10 SubIndex 016
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x10Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.17 F030:11 SubIndex 017
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x11Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary190 Version: 1.0
3.1.14.18 F030:12 SubIndex 018
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x12Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.19 F030:13 SubIndex 019
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x13Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.20 F030:14 SubIndex 020
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x14Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 191Version: 1.0
3.1.14.21 F030:15 SubIndex 021
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x15Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.22 F030:16 SubIndex 022
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x16Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.23 F030:17 SubIndex 023
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x17Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary192 Version: 1.0
3.1.14.24 F030:18 SubIndex 024
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x18Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.25 F030:19 SubIndex 025
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x19Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.26 F030:1A SubIndex 026
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x1ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 193Version: 1.0
3.1.14.27 F030:1B SubIndex 027
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x1BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.28 F030:1C SubIndex 028
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x1CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.29 F030:1D SubIndex 029
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x1DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary194 Version: 1.0
3.1.14.30 F030:1E SubIndex 030
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x1EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.31 F030:1F SubIndex 031
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x1FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.32 F030:20 SubIndex 032
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x20Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 195Version: 1.0
3.1.14.33 F030:21 SubIndex 033
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x21Datatype UINT32Min. ValueDefault 328680 (0x000503E8)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.34 F030:22 SubIndex 034
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x22Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.35 F030:23 SubIndex 035
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x23Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary196 Version: 1.0
3.1.14.36 F030:24 SubIndex 036
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x24Datatype UINT32Min. ValueDefault 134072 (0x00020BB8)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.37 F030:25 SubIndex 037
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x25Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.38 F030:26 SubIndex 038
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x26Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 197Version: 1.0
3.1.14.39 F030:27 SubIndex 039
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x27Datatype UINT32Min. ValueDefault 137072 (0x00021770)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.40 F030:28 SubIndex 040
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x28Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.41 F030:29 SubIndex 041
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x29Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary198 Version: 1.0
3.1.14.42 F030:2A SubIndex 042
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x2ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.43 F030:2B SubIndex 043
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x2BDatatype UINT32Min. ValueDefault 272144 (0x00042710)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.44 F030:2C SubIndex 044
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x2CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 199Version: 1.0
3.1.14.45 F030:2D SubIndex 045
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x2DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.46 F030:2E SubIndex 046
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x2EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.47 F030:2F SubIndex 047
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x2FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary200 Version: 1.0
3.1.14.48 F030:30 SubIndex 048
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x30Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.49 F030:31 SubIndex 049
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x31Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.50 F030:32 SubIndex 050
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x32Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 201Version: 1.0
3.1.14.51 F030:33 SubIndex 051
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x33Datatype UINT32Min. ValueDefault 214608 (0x00034650)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.52 F030:34 SubIndex 052
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x34Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.53 F030:35 SubIndex 053
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x35Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary202 Version: 1.0
3.1.14.54 F030:36 SubIndex 054
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x36Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.55 F030:37 SubIndex 055
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x37Datatype UINT32Min. ValueDefault 218608 (0x000355F0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.56 F030:38 SubIndex 056
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x38Datatype UINT32Min. ValueDefault 285145 (0x000459D9)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 203Version: 1.0
3.1.14.57 F030:39 SubIndex 057
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x39Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.58 F030:3A SubIndex 058
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x3ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.59 F030:3B SubIndex 059
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x3BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary204 Version: 1.0
3.1.14.60 F030:3C SubIndex 060
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x3CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.61 F030:3D SubIndex 061
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x3DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.62 F030:3E SubIndex 062
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x3EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 205Version: 1.0
3.1.14.63 F030:3F SubIndex 063
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x3FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.64 F030:40 SubIndex 064
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x40Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.65 F030:41 SubIndex 065
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x41Datatype UINT32Min. ValueDefault 328680 (0x000503E8)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary206 Version: 1.0
3.1.14.66 F030:42 SubIndex 066
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x42Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.67 F030:43 SubIndex 067
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x43Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.68 F030:44 SubIndex 068
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x44Datatype UINT32Min. ValueDefault 134072 (0x00020BB8)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 207Version: 1.0
3.1.14.69 F030:45 SubIndex 069
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x45Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.70 F030:46 SubIndex 070
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x46Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.71 F030:47 SubIndex 071
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x47Datatype UINT32Min. ValueDefault 137072 (0x00021770)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary208 Version: 1.0
3.1.14.72 F030:48 SubIndex 072
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x48Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.73 F030:49 SubIndex 073
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x49Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.74 F030:4A SubIndex 074
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x4ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 209Version: 1.0
3.1.14.75 F030:4B SubIndex 075
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x4BDatatype UINT32Min. ValueDefault 272144 (0x00042710)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.76 F030:4C SubIndex 076
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x4CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.77 F030:4D SubIndex 077
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x4DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary210 Version: 1.0
3.1.14.78 F030:4E SubIndex 078
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x4EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.79 F030:4F SubIndex 079
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x4FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.80 F030:50 SubIndex 080
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x50Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 211Version: 1.0
3.1.14.81 F030:51 SubIndex 081
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x51Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.82 F030:52 SubIndex 082
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x52Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.83 F030:53 SubIndex 083
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x53Datatype UINT32Min. ValueDefault 214608 (0x00034650)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary212 Version: 1.0
3.1.14.84 F030:54 SubIndex 084
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x54Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.85 F030:55 SubIndex 085
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x55Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.86 F030:56 SubIndex 086
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x56Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 213Version: 1.0
3.1.14.87 F030:57 SubIndex 087
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x57Datatype UINT32Min. ValueDefault 218608 (0x000355F0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.88 F030:58 SubIndex 088
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x58Datatype UINT32Min. ValueDefault 285145 (0x000459D9)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.89 F030:59 SubIndex 089
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x59Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary214 Version: 1.0
3.1.14.90 F030:5A SubIndex 090
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x5ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.91 F030:5B SubIndex 091
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x5BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.92 F030:5C SubIndex 092
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x5CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 215Version: 1.0
3.1.14.93 F030:5D SubIndex 093
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x5DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.94 F030:5E SubIndex 094
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x5EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.14.95 F030:5F SubIndex 095
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x5FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary216 Version: 1.0
3.1.14.96 F030:60 SubIndex 096
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF030 (Device)Subindex 0x60Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.1.15 F050:x Detected modulessee ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 96 (0x60)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.1 F050:01 SubIndex 001
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 196708 (0x00030064)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 217Version: 1.0
3.1.15.2 F050:02 SubIndex 002
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.3 F050:03 SubIndex 003
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x03Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.4 F050:04 SubIndex 004
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x04Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary218 Version: 1.0
3.1.15.5 F050:05 SubIndex 005
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x05Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.6 F050:06 SubIndex 006
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x06Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.7 F050:07 SubIndex 007
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x07Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 219Version: 1.0
3.1.15.8 F050:08 SubIndex 008
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x08Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.9 F050:09 SubIndex 009
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x09Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.10 F050:0A SubIndex 010
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x0ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary220 Version: 1.0
3.1.15.11 F050:0B SubIndex 011
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x0BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.12 F050:0C SubIndex 012
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x0CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.13 F050:0D SubIndex 013
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x0DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 221Version: 1.0
3.1.15.14 F050:0E SubIndex 014
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x0EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.15 F050:0F SubIndex 015
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x0FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.16 F050:10 SubIndex 016
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x10Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary222 Version: 1.0
3.1.15.17 F050:11 SubIndex 017
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x11Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.18 F050:12 SubIndex 018
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x12Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.19 F050:13 SubIndex 019
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x13Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 223Version: 1.0
3.1.15.20 F050:14 SubIndex 020
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x14Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.21 F050:15 SubIndex 021
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x15Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.22 F050:16 SubIndex 022
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x16Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary224 Version: 1.0
3.1.15.23 F050:17 SubIndex 023
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x17Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.24 F050:18 SubIndex 024
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x18Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.25 F050:19 SubIndex 025
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x19Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 225Version: 1.0
3.1.15.26 F050:1A SubIndex 026
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x1ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.27 F050:1B SubIndex 027
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x1BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.28 F050:1C SubIndex 028
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x1CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary226 Version: 1.0
3.1.15.29 F050:1D SubIndex 029
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x1DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.30 F050:1E SubIndex 030
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x1EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.31 F050:1F SubIndex 031
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x1FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 227Version: 1.0
3.1.15.32 F050:20 SubIndex 032
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x20Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.33 F050:21 SubIndex 033
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x21Datatype UINT32Min. ValueDefault 328680 (0x000503E8)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.34 F050:22 SubIndex 034
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x22Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary228 Version: 1.0
3.1.15.35 F050:23 SubIndex 035
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x23Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.36 F050:24 SubIndex 036
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x24Datatype UINT32Min. ValueDefault 134072 (0x00020BB8)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.37 F050:25 SubIndex 037
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x25Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 229Version: 1.0
3.1.15.38 F050:26 SubIndex 038
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x26Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.39 F050:27 SubIndex 039
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x27Datatype UINT32Min. ValueDefault 137072 (0x00021770)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.40 F050:28 SubIndex 040
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x28Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary230 Version: 1.0
3.1.15.41 F050:29 SubIndex 041
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x29Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.42 F050:2A SubIndex 042
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x2ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.43 F050:2B SubIndex 043
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x2BDatatype UINT32Min. ValueDefault 272144 (0x00042710)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 231Version: 1.0
3.1.15.44 F050:2C SubIndex 044
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x2CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.45 F050:2D SubIndex 045
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x2DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.46 F050:2E SubIndex 046
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x2EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary232 Version: 1.0
3.1.15.47 F050:2F SubIndex 047
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x2FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.48 F050:30 SubIndex 048
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x30Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.49 F050:31 SubIndex 049
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x31Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 233Version: 1.0
3.1.15.50 F050:32 SubIndex 050
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x32Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.51 F050:33 SubIndex 051
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x33Datatype UINT32Min. ValueDefault 214608 (0x00034650)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.52 F050:34 SubIndex 052
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x34Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary234 Version: 1.0
3.1.15.53 F050:35 SubIndex 053
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x35Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.54 F050:36 SubIndex 054
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x36Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.55 F050:37 SubIndex 055
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x37Datatype UINT32Min. ValueDefault 218608 (0x000355F0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 235Version: 1.0
3.1.15.56 F050:38 SubIndex 056
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x38Datatype UINT32Min. ValueDefault 285145 (0x000459D9)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.57 F050:39 SubIndex 057
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x39Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.58 F050:3A SubIndex 058
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x3ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary236 Version: 1.0
3.1.15.59 F050:3B SubIndex 059
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x3BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.60 F050:3C SubIndex 060
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x3CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.61 F050:3D SubIndex 061
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x3DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 237Version: 1.0
3.1.15.62 F050:3E SubIndex 062
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x3EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.63 F050:3F SubIndex 063
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x3FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.64 F050:40 SubIndex 064
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x40Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary238 Version: 1.0
3.1.15.65 F050:41 SubIndex 065
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x41Datatype UINT32Min. ValueDefault 328680 (0x000503E8)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.66 F050:42 SubIndex 066
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x42Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.67 F050:43 SubIndex 067
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x43Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 239Version: 1.0
3.1.15.68 F050:44 SubIndex 068
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x44Datatype UINT32Min. ValueDefault 134072 (0x00020BB8)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.69 F050:45 SubIndex 069
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x45Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.70 F050:46 SubIndex 070
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x46Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary240 Version: 1.0
3.1.15.71 F050:47 SubIndex 071
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x47Datatype UINT32Min. ValueDefault 137072 (0x00021770)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.72 F050:48 SubIndex 072
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x48Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.73 F050:49 SubIndex 073
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x49Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 241Version: 1.0
3.1.15.74 F050:4A SubIndex 074
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x4ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.75 F050:4B SubIndex 075
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x4BDatatype UINT32Min. ValueDefault 272144 (0x00042710)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.76 F050:4C SubIndex 076
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x4CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary242 Version: 1.0
3.1.15.77 F050:4D SubIndex 077
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x4DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.78 F050:4E SubIndex 078
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x4EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.79 F050:4F SubIndex 079
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x4FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 243Version: 1.0
3.1.15.80 F050:50 SubIndex 080
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x50Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.81 F050:51 SubIndex 081
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x51Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.82 F050:52 SubIndex 082
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x52Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary244 Version: 1.0
3.1.15.83 F050:53 SubIndex 083
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x53Datatype UINT32Min. ValueDefault 214608 (0x00034650)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.84 F050:54 SubIndex 084
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x54Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.85 F050:55 SubIndex 085
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x55Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 245Version: 1.0
3.1.15.86 F050:56 SubIndex 086
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x56Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.87 F050:57 SubIndex 087
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x57Datatype UINT32Min. ValueDefault 218608 (0x000355F0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.88 F050:58 SubIndex 088
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x58Datatype UINT32Min. ValueDefault 285145 (0x000459D9)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary246 Version: 1.0
3.1.15.89 F050:59 SubIndex 089
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x59Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.90 F050:5A SubIndex 090
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x5ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.91 F050:5B SubIndex 091
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x5BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 247Version: 1.0
3.1.15.92 F050:5C SubIndex 092
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x5CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.93 F050:5D SubIndex 093
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x5DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.94 F050:5E SubIndex 094
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x5EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary248 Version: 1.0
3.1.15.95 F050:5F SubIndex 095
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x5FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.1.15.96 F050:60 SubIndex 096
see ETG.5001.1 MDP GeneralSpec
Description ValueIndex 0xF050 (Device)Subindex 0x60Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 249Version: 1.0
3.2 Objects of module DeviceMain
3.2.1 2C00:x InputPDO1This object contains manufacturer specific cyclic Writedata to the module DeviceMain.
Description ValueIndex 0x2C00 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.1.1 2C00:01 Power supply controlword
This object shall be linked to the Statusword of the connected PowerSupply device. (I.e. AX8620)
Description ValueIndex 0x2C00 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary250 Version: 1.0
3.2.2 2C01:x Device actual valuesThis object contains manufacturer specific actual Values from the Module DeviceMain.
Description ValueIndex 0x2C01 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.2.1 2C01:01 Auxiliary voltage
This object provides the actual value of the auxiliary voltage (nom. 24V).
Description ValueIndex 0x2C01 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.2.2.2 2C01:02 Sync lost counter
This object provides a diagnosis info about the number of Sync1 cycles without an output event.
Description ValueIndex 0x2C01 (Device)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 251Version: 1.0
3.2.3 2C02:x DeviceMain ParametersThis object contains not mappable parameters of the DeviceMain module.
Description ValueIndex 0x2C02 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 5 (0x05)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.3.1 2C02:01 Min DC link voltage
This object can be used to configure the minimal DC link voltage. Operating the drive with an actual DC linkvoltage below the configured value causes an error.
Description ValueIndex 0x2C02 (Device)Subindex 0x01Datatype UINT16Min. Value 0Default 400 (0x0190)Max. Value 500 (0x01F4)Unit VAccess / EtherCAT-State RwPDO MappingRevision All
3.2.3.2 2C02:02 Max DC link voltage
This object can be used to configure the maximum DC link voltage. Operating the drive with an actual DClink voltage above the configured value causes an error.
Description ValueIndex 0x2C02 (Device)Subindex 0x02Datatype UINT16Min. Value 0Default 875 (0x036B)Max. Value 875 (0x036B)Unit VAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary252 Version: 1.0
3.2.3.3 2C02:03 Device max current
This object provides the peak current of the device.
Description ValueIndex 0x2C02 (Device)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO MappingRevision All
3.2.3.4 2C02:04 Device rated current
This object provides the rated current of the device.
Description ValueIndex 0x2C02 (Device)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO MappingRevision All
3.2.3.5 2C02:05 Mains max voltage
This object configures the maximal mains voltage of the device.
Description ValueIndex 0x2C02 (Device)Subindex 0x05Datatype UINT16Min. Value 0Default 5280 (0x14A0)Max. Value 5280 (0x14A0)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 253Version: 1.0
3.2.4 2C03:x DeviceMain Power supply ConnectionThis object contains Parameters about the Connected Power supply Device.
Description ValueIndex 0x2C03 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 5 (0x05)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.4.1 2C03:01 Power supply EtherCAT Address
Please enter the EtherCAT Address of the connected Power supply device here.
Description ValueIndex 0x2C03 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.2.4.2 2C03:02 Address valid
Shall be set to TRUE internally, if the given power supply EtherCAT Address is valid.
Description ValueIndex 0x2C03 (Device)Subindex 0x02Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary254 Version: 1.0
3.2.4.3 2C03:03 Statusword active
Shall be set to TRUE internally, if the given power supply statusword seems to be alive.
Description ValueIndex 0x2C03 (Device)Subindex 0x03Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.4.4 2C03:04 Readdata valid
Shall be set to TRUE internally, if the given power supply read data is valid.
Description ValueIndex 0x2C03 (Device)Subindex 0x04Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.4.5 2C03:05 Device compatible
Shall be set to TRUE internally, if the connected power supply is detected as compatible.
Description ValueIndex 0x2C03 (Device)Subindex 0x05Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 255Version: 1.0
3.2.5 2C04:x DeviceMain Power supply InformationsThis object contains parameters about the connected power supply.
Description ValueIndex 0x2C04 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 8 (0x08)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.5.1 2C04:01 Device type
Power supply device type. (Object 0x1000 read from the power supply via the configured EtherCAT address)
Description ValueIndex 0x2C04 (Device)Subindex 0x01Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.5.2 2C04:02 Device name
Power supply device name (Object 0x1008 read from the power supply via the configured EtherCATaddress)
Description ValueIndex 0x2C04 (Device)Subindex 0x02Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary256 Version: 1.0
3.2.5.3 2C04:03 Hardware version
Power supply hardware version (Object 0x1009 read from the power supply via the configured EtherCATaddress)
Description ValueIndex 0x2C04 (Device)Subindex 0x03Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.5.4 2C04:04 Software version
Power supply software version (Object 0x100A read from the power supply via the configured EtherCATaddress)
Description ValueIndex 0x2C04 (Device)Subindex 0x04Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.5.5 2C04:05 Vendor ID
Power supply vendor ID (Object 0x1018:01 read from the power supply via the configured EtherCATaddress)
Description ValueIndex 0x2C04 (Device)Subindex 0x05Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 257Version: 1.0
3.2.5.6 2C04:06 Product code
Power supply product code (Object 0x1018:02 read from the power supply via the configured EtherCATaddress)
Description ValueIndex 0x2C04 (Device)Subindex 0x06Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.5.7 2C04:07 Revision
Power supply revision (Object 0x1018:03 read from the power supply via the configured EtherCAT address)
Description ValueIndex 0x2C04 (Device)Subindex 0x07Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.5.8 2C04:08 Serial number
Power supply serial number (Object 0x1018:04 read from the power supply via the configured EtherCATaddress)
Description ValueIndex 0x2C04 (Device)Subindex 0x08Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary258 Version: 1.0
3.2.6 2C10:x DeviceMain production info ControlPcbinternal use only
Description ValueIndex 0x2C10 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 259Version: 1.0
3.2.7 2C11:x DeviceMain production info FrontPcbinternal use only
Description ValueIndex 0x2C11 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary260 Version: 1.0
3.2.8 2C12:x DeviceMain production info AdditionalAxisPcbinternal use only
Description ValueIndex 0x2C12 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 261Version: 1.0
3.2.9 2C13:x DeviceMain production info DisplayPcbinternal use only
Description ValueIndex 0x2C13 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary262 Version: 1.0
3.2.10 2C14:x DeviceMain production info SafetyPcbinternal use only
Description ValueIndex 0x2C14 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 263Version: 1.0
3.2.11 2C15:x DeviceMain production info CpuPcbinternal use only
Description ValueIndex 0x2C15 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary264 Version: 1.0
3.2.12 2C1E:x DeviceMain error counterThis object contains internal diagnosis informations.
Description ValueIndex 0x2C1E (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.1 2C1E:01 Motor overload shut down
This object is a counter, which increments each diagnosis message of type 'Motor overload shut down'.
Description ValueIndex 0x2C1E (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.2 2C1E:02 Motor overtemperature shut down
This object is a counter, which increments each diagnosis message of type 'Motor overtemperature shutdown'.
Description ValueIndex 0x2C1E (Device)Subindex 0x02Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 265Version: 1.0
3.2.12.3 2C1E:03 Drive overtemperature shut down
This object is a counter, which increments each diagnosis message of type 'Drive overtemperature shutdown'.
Description ValueIndex 0x2C1E (Device)Subindex 0x03Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.4 2C1E:04 Control voltage error
This object is a counter, which increments each diagnosis message of type 'Control voltage error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x04Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.5 2C1E:05 Feedback error
This object is a counter, which increments each diagnosis message of type 'Feedback error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x05Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary266 Version: 1.0
3.2.12.6 2C1E:06 Commutation error
This object is a counter, which increments each diagnosis message of type 'Commutation error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x06Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.7 2C1E:07 Overcurrent error
This object is a counter, which increments each diagnosis message of type 'Overcurrent error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x07Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.8 2C1E:08 Overvoltage error
This object is a counter, which increments each diagnosis message of type 'Overvoltage error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x08Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 267Version: 1.0
3.2.12.9 2C1E:09 Undervoltage error
This object is a counter, which increments each diagnosis message of type 'Undervoltage error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x09Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.10 2C1E:0A Power supply phase error
This object is a counter, which increments each diagnosis message of type 'Power supply phase error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x0ADatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.11 2C1E:0B Communication error
This object is a counter, which increments each diagnosis message of type 'Communication error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x0BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary268 Version: 1.0
3.2.12.12 2C1E:0C TorqueOff with emergency brake
This object is a counter, which increments each diagnosis message of type 'TorqueOff with emergencybrake'.
Description ValueIndex 0x2C1E (Device)Subindex 0x0CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.13 2C1E:0D Motor connection error
This object is a counter, which increments each diagnosis message of type 'Motor connection error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x0DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.14 2C1E:0E Safety STO error
This object is a counter, which increments each diagnosis message of type 'Safety STO error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x0EDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 269Version: 1.0
3.2.12.15 2C1E:0F Overspeed error
This object is a counter, which increments each diagnosis message of type 'Overspeed error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x0FDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.16 2C1E:10 Motor Brake connection error
This object is a counter, which increments each diagnosis message of type 'Motor Brake connection error'.
Description ValueIndex 0x2C1E (Device)Subindex 0x10Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.12.17 2C1E:11 DC link connection overcurrent error
This object is a counter, which increments each diagnosis message of type 'DC link connection overcurrenterror'.
Description ValueIndex 0x2C1E (Device)Subindex 0x11Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary270 Version: 1.0
3.2.13 2C1F:x DeviceMain infoThis object contains internal diagnosis informations.
Description ValueIndex 0x2C1F (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.2.13.1 2C1F:01 Operating time drive control
This object contains the operating time of the drive control (24V power up time).
Description ValueIndex 0x2C1F (Device)Subindex 0x01Datatype UINT32Min. ValueDefaultMax. ValueUnit sAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 271Version: 1.0
3.2.14 6079 DC link circuit voltageThis object provides the actual value of the DC link voltage of the drive device.
Description ValueIndex 0x6079 (Device)Subindex 0x00Datatype UINT32Min. ValueDefaultMax. ValueUnit mVAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary272 Version: 1.0
3.3 Objects of module DeviceDebug
3.3.1 2FE0:x TestInputsinternal use only
Description ValueIndex 0x2FE0 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 273Version: 1.0
3.3.2 2FE1:x TestOutputsinternal use only
Description ValueIndex 0x2FE1 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary274 Version: 1.0
3.3.3 2FF0:x Memory000internal use only
Description ValueIndex 0x2FF0 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 275Version: 1.0
3.3.4 2FF1:x Memory400internal use only
Description ValueIndex 0x2FF1 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary276 Version: 1.0
3.3.5 2FF2:x Memory800internal use only
Description ValueIndex 0x2FF2 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 277Version: 1.0
3.3.6 2FF3:x MemoryC00internal use only
Description ValueIndex 0x2FF3 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary278 Version: 1.0
3.3.7 2FFE:x developer commandsinternal use only
Description ValueIndex 0x2FFE (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 279Version: 1.0
3.4 Objects of module AxisMain
3.4.1 3000:x AxisMain parametersThis object contains parameters to manage the automatic motor brake control.
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 8 (0x08)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.1.1 3000:01 Motor brake type
Activates drive internal automatic brake control.
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. Value No_motor_brake (0)Default No_motor_brake (0)Max. Value Currentless_locked_motor_brake (1)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description1 (0x01) Currentless_locked_motor_brake0 (0x00) No_motor_brake
Axis modules
AX8000 Object Dictionary280 Version: 1.0
3.4.1.2 3000:02 Motor brake usage
Configures the error reaction behaviour of the motor brake.
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x02Datatype ENUM (INT16)Min. Value Standard_holding_brake (0)Default Standard_holding_brake (0)Max. Value Holding_brake_Emergency_brake (1)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description1 (0x01) Holding_brake_Emergency_brake0 (0x00) Standard_holding_brake
3.4.1.3 3000:03 Drive on delay time
With the transition of the PDS state machine to "operation enabled" "drive on delay time" is started. The drivefollows the command values after the "drive on delay time" has elapsed. The motor brake management usesthis time to unlock the motor brake before motion is enabled.
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x03Datatype UINT32Min. Value 0Default 100 (0x00000064)Max. Value 5000 (0x00001388)Unit msAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 281Version: 1.0
3.4.1.4 3000:04 Drive off delay time
After "operation enabled" of the PDS state machine is removed and the axis is in the standstill window, thelocking of the brake is initiated and the drive off delay time is started. The torque/force remains activated inthe drive until the configured drive off delay time is elapsed. The motor brake management uses this time tolock the motor brake before the torque/force is switched off..
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x04Datatype UINT32Min. Value 0Default 150 (0x00000096)Max. Value 5000 (0x00001388)Unit msAccess / EtherCAT-State RwPDO MappingRevision All
3.4.1.5 3000:05 Motor brake current monitoring level
If the motor brake current remains below the specified threshold, an error is reported. Motor brake currentmonitoring level is only active if brake control is enabled.
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x05Datatype REAL32Min. Value 0.0Default 0.05Max. Value 2.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All
3.4.1.6 3000:06 Configured drive type
This object indicates the configured drive type.
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x06Datatype VISIBLE_STRINGMin. ValueDefault not setMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary282 Version: 1.0
3.4.1.7 3000:07 Motor brake force
Force drive internal brake.
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x07Datatype ENUM (INT16)Min. Value Release_force (0)Default Release_force (0)Max. Value Force_unlock (2)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x02) Force_unlock1 (0x01) Force_lock0 (0x00) Release_force
3.4.1.8 3000:08 Modulo Data storage
Store module remainder cyclic and powersafe.
Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x08Datatype ENUM (UINT16)Min. Value Modulo_data_storage_enabled (0)Default Modulo_data_storage_enabled (0)Max. Value Modulo_data_storage_disabled (1)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description1 (0x01) Modulo_data_storage_disabled0 (0x00) Modulo_data_storage_enabled
Axis modules
AX8000 Object Dictionary 283Version: 1.0
3.4.2 3001:x AxisMain actual valuesThis object contains manufacturer specific actual values from the module AxisMain.
Description ValueIndex AxisMainSlot: 0x3001 (Ch A)/ 0x3401 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.2.1 3001:01 Actual motor brake current
The actual motor brake current in ampere.
Description ValueIndex AxisMainSlot: 0x3001 (Ch A)/ 0x3401 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.4.2.2 3001:02 IGBT temperature
This object provides the actual power stage temperature of this channel.
Description ValueIndex AxisMainSlot: 0x3001 (Ch A)/ 0x3401 (Ch B)Subindex 0x02Datatype INT16Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary284 Version: 1.0
3.4.2.3 3001:03 Missing output cycle counter increments
This object provides a diagnosis info about the number of missed output cycle counter increments, if thefeature is enabled.
Description ValueIndex AxisMainSlot: 0x3001 (Ch A)/ 0x3401 (Ch B)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 285Version: 1.0
3.4.3 3002:x AxisMain parameters positive limit switchThis object contains parameters to configure a positive limit switch.
Description ValueIndex AxisMainSlot: 0x3002 (Ch A)/ 0x3402 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.3.1 3002:01 Configuration
This object configures the type of the limit switch.
Description ValueIndex AxisMainSlot: 0x3002 (Ch A)/ 0x3402 (Ch B)Subindex 0x01Datatype ENUM (UINT8)Min. Value No_limit_switch (0)Default No_limit_switch (0)Max. Value Normally_open (2)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x02) Normally_open1 (0x01) Normally_closed0 (0x00) No_limit_switch
Axis modules
AX8000 Object Dictionary286 Version: 1.0
3.4.3.2 3002:02 Input number
This object configures the digital input number of the limit switch.
Description ValueIndex AxisMainSlot: 0x3002 (Ch A)/ 0x3402 (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. Value Digital_input_1 (0)Default Digital_input_3 (2)Max. Value Digital_input_4 (3)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description3 (0x03) Digital_input_42 (0x02) Digital_input_31 (0x01) Digital_input_20 (0x00) Digital_input_1
Axis modules
AX8000 Object Dictionary 287Version: 1.0
3.4.4 3003:x AxisMain parameters negative limit switchThis object contains parameters to configure a negative limit switch.
Description ValueIndex AxisMainSlot: 0x3003 (Ch A)/ 0x3403 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.4.1 3003:01 Configuration
This object configures the type of the limit switch.
Description ValueIndex AxisMainSlot: 0x3003 (Ch A)/ 0x3403 (Ch B)Subindex 0x01Datatype ENUM (UINT8)Min. Value No_limit_switch (0)Default No_limit_switch (0)Max. Value Normally_open (2)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x02) Normally_open1 (0x01) Normally_closed0 (0x00) No_limit_switch
Axis modules
AX8000 Object Dictionary288 Version: 1.0
3.4.4.2 3003:02 Input number
This object configures the digital input number of the limit switch.
Description ValueIndex AxisMainSlot: 0x3003 (Ch A)/ 0x3403 (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. Value Digital_input_1 (0)Default Digital_input_4 (3)Max. Value Digital_input_4 (3)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description3 (0x03) Digital_input_42 (0x02) Digital_input_31 (0x01) Digital_input_20 (0x00) Digital_input_1
Axis modules
AX8000 Object Dictionary 289Version: 1.0
3.4.5 3004:x AxisMain parameters error managerThis object contains parameters to configure the error manager.
Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.5.1 3004:01 Error reaction delay time
This object shall indicate the delay time if an error reaction is performed in the PDS.
Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.0Max. Value 3000.0Unit sAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary290 Version: 1.0
3.4.5.2 3004:02 Choose force reaction
This object shall indicate the forced error reaction.
Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x02Datatype ENUM (INT16)Min. ValueDefault Torque_Off (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x0002) Closed_loop_ramp0 (0x0000) Torque_Off-1 (0xFFFF) NC_Handling
3.4.5.3 3004:03 Force reaction
This object is to perform the forced error reaction.
Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x03Datatype BOOLMin. Value FALSEDefault FALSEMax. Value TRUEUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 291Version: 1.0
3.4.5.4 3004:04 Extended fault reset
Unlock Fault reset command for errors with extended reset condition.
Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x04Datatype ENUM (UINT8)Min. Value Extended_fault_reset_disabled (0)Default Extended_fault_reset_disabled (0)Max. Value Extended_fault_reset_enabled (1)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description1 (0x01) Extended_fault_reset_enabled0 (0x00) Extended_fault_reset_disabled
Axis modules
AX8000 Object Dictionary292 Version: 1.0
3.4.6 3005:x AxisMain scaling indexThis object contains scaling informations for objects with not fixed scaling.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 10 (0x0A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 293Version: 1.0
3.4.6.1 3005:01 Scaling index position NC
Scaling of DS402/integer position values.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x01Datatype ENUM (UINT32)Min. ValueDefault Scale_360Degree_as_2Pow20 (4628)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description6662 (0x1A06) Scale_1_Picometer6661 (0x1A05) Scale_10_Picometer6660 (0x1A04) Scale_100_Picometer6659 (0x1A03) Scale_1_Nanometer6658 (0x1A02) Scale_10_Nanometer6657 (0x1A01) Scale_100_Nanometer6656 (0x1A00) Scale_1_Micrometer4636 (0x121C) Scale_360Degree_as_2Pow284635 (0x121B) Scale_360Degree_as_2Pow274634 (0x121A) Scale_360Degree_as_2Pow264633 (0x1219) Scale_360Degree_as_2Pow254632 (0x1218) Scale_360Degree_as_2Pow244631 (0x1217) Scale_360Degree_as_2Pow234630 (0x1216) Scale_360Degree_as_2Pow224629 (0x1215) Scale_360Degree_as_2Pow214628 (0x1214) Scale_360Degree_as_2Pow204627 (0x1213) Scale_360Degree_as_2Pow194626 (0x1212) Scale_360Degree_as_2Pow184625 (0x1211) Scale_360Degree_as_2Pow174624 (0x1210) Scale_360Degree_as_2Pow16
Axis modules
AX8000 Object Dictionary294 Version: 1.0
3.4.6.2 3005:02 Scaling index velocity NC
Scaling of DS402/integer velocity values.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x02Datatype ENUM (UINT32)Min. ValueDefault Scale_0dot0001_rpm (8192)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description8448 (0x2100) Scale_0dot1_um_per_Second8192 (0x2000) Scale_0dot0001_rpm
3.4.6.3 3005:03 Scaling index acceleration
Scaling of acceleration values.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x03Datatype ENUM (UINT32)Min. ValueDefault Scale_1_Degree_per_Second_squared (12288)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description12544 (0x3100) Scale_1_um_per_Second_squared12288 (0x3000) Scale_1_Degree_per_Second_squared
Axis modules
AX8000 Object Dictionary 295Version: 1.0
3.4.6.4 3005:04 Scaling index jerk
Scaling of jerk values.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x04Datatype ENUM (UINT32)Min. ValueDefault Scale_100_Degree_per_Second_cubed (16384)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description16640 (0x4100) Scale_100_um_per_Second_cubed16384 (0x4000) Scale_100_Degree_per_Second_cubed
3.4.6.5 3005:05 Scaling index torque or force
Scaling of torque or force values.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x05Datatype ENUM (UINT32)Min. ValueDefault Scale_1_Nm (20480)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description20736 (0x5100) Scale_1_N20480 (0x5000) Scale_1_Nm
Axis modules
AX8000 Object Dictionary296 Version: 1.0
3.4.6.6 3005:06 Scaling index position NC per second
Scaling of derivative DS402/integer position values.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x06Datatype ENUM (UINT32)Min. ValueDefault Scale_360Degree_as_2Pow20_per_Second (25108)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description27142 (0x6A06) Scale_1_Picometer_per_Second27141 (0x6A05) Scale_10_Picometer_per_Second27140 (0x6A04) Scale_100_Picometer_per_Second27139 (0x6A03) Scale_1_Nanometer_per_Second27138 (0x6A02) Scale_10_Nanometer_per_Second27137 (0x6A01) Scale_100_Nanometer_per_Second27136 (0x6A00) Scale_1_Micrometer_per_Second25116 (0x621C) Scale_360Degree_as_2Pow28_per_Second25115 (0x621B) Scale_360Degree_as_2Pow27_per_Second25114 (0x621A) Scale_360Degree_as_2Pow26_per_Second25113 (0x6219) Scale_360Degree_as_2Pow25_per_Second25112 (0x6218) Scale_360Degree_as_2Pow24_per_Second25111 (0x6217) Scale_360Degree_as_2Pow23_per_Second25110 (0x6216) Scale_360Degree_as_2Pow22_per_Second25109 (0x6215) Scale_360Degree_as_2Pow21_per_Second25108 (0x6214) Scale_360Degree_as_2Pow20_per_Second25107 (0x6213) Scale_360Degree_as_2Pow19_per_Second25106 (0x6212) Scale_360Degree_as_2Pow18_per_Second25105 (0x6211) Scale_360Degree_as_2Pow17_per_Second25104 (0x6210) Scale_360Degree_as_2Pow16_per_Second
Axis modules
AX8000 Object Dictionary 297Version: 1.0
3.4.6.7 3005:07 Scaling index velocity NC per second
Scaling of derivative DS402/integer velocity values.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x07Datatype ENUM (UINT32)Min. ValueDefault Scale_0dot0001_rpm_per_Second (28672)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description28928 (0x7100) Scale_0dot1_um_per_Second_squared28672 (0x7000) Scale_0dot0001_rpm_per_Second
3.4.6.8 3005:08 Scaling index velocity native
Scaling of floating point velocity values.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x08Datatype ENUM (UINT32)Min. ValueDefault Scale_rpm (32768)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description33024 (0x8100) Scale_m_per_Second32768 (0x8000) Scale_rpm
Axis modules
AX8000 Object Dictionary298 Version: 1.0
3.4.6.9 3005:09 Scaling index velocity proportional gain
Scaling of velocity proportional gain.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x09Datatype ENUM (UINT32)Min. ValueDefault Scale_Nm_per_rad_per_Second (36864)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description37120 (0x9100) Scale_N_per_rad_per_Second36864 (0x9000) Scale_Nm_per_rad_per_Second
3.4.6.10 3005:0A Scaling index spring rate
Scaling of a spring rate.
Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x0ADatatype ENUM (UINT32)Min. ValueDefault Scale_Nm_per_rad (40960)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description41216 (0xA100) Scale_N_per_m40960 (0xA000) Scale_Nm_per_rad
Axis modules
AX8000 Object Dictionary 299Version: 1.0
3.4.7 3006:x AxisMain commandExecute Commands on AxisMain
Description ValueIndex AxisMainSlot: 0x3006 (Ch A)/ 0x3406 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.7.1 3006:01 Command
Execute Commands on AxisMain
Description ValueIndex AxisMainSlot: 0x3006 (Ch A)/ 0x3406 (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary300 Version: 1.0
3.4.7.2 3006:02 Status
Description ValueIndex AxisMainSlot: 0x3006 (Ch A)/ 0x3406 (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description255 (0xFF) eCoeCmdStatus_CmdIsExecuting3 (0x03) eCoeCmdStatus_CmdCompletedErrorRespDataAvailable2 (0x02) eCoeCmdStatus_CmdCompletedErrorNoRespData1 (0x01) eCoeCmdStatus_CmdCompletedNoErrorRespDataAvailable0 (0x00) eCoeCmdStatus_CmdCompletedNoErrorNoRespData
3.4.7.3 3006:03 Response
Description ValueIndex AxisMainSlot: 0x3006 (Ch A)/ 0x3406 (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 301Version: 1.0
3.4.8 3007:x AxisMain parameters position offsetThis object contains parameters to manage the position offset configuration.
Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.8.1 3007:01 Offset position actual value
This object provides the offset which will be added on the position actual value.
Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x01Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary302 Version: 1.0
3.4.8.2 3007:02 Offset position actual value source
This object configures the memory source of the "Offset position actual value".
Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x02Datatype ENUM (UINT16)Min. ValueDefault disabled (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x02) drive_memory1 (0x01) encoder_memory0 (0x00) disabled
3.4.8.3 3007:03 Offset additional position actual value
This object provides the offset which will be added on the additional position actual value.
Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x03Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 303Version: 1.0
3.4.8.4 3007:04 Offset additional position actual value source
This object configures the memory source of the "Offset additional position actual value".
Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x04Datatype ENUM (UINT16)Min. ValueDefault disabled (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x02) drive_memory1 (0x01) encoder_memory0 (0x00) disabled
Axis modules
AX8000 Object Dictionary304 Version: 1.0
3.4.9 301E:x AxisMain error counterThis object contains internal diagnosis informations.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.1 301E:01 Motor overload shut down
This object is a counter, which increments each diagnosis message of type 'Motor overload shut down'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.2 301E:02 Motor overtemperature shut down
This object is a counter, which increments each diagnosis message of type 'Motor overtemperature shutdown'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x02Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 305Version: 1.0
3.4.9.3 301E:03 Drive overtemperature shut down
This object is a counter, which increments each diagnosis message of type 'Drive overtemperature shutdown'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x03Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.4 301E:04 Control voltage error
This object is a counter, which increments each diagnosis message of type 'Control voltage error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x04Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.5 301E:05 Feedback error
This object is a counter, which increments each diagnosis message of type 'Feedback error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x05Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary306 Version: 1.0
3.4.9.6 301E:06 Commutation error
This object is a counter, which increments each diagnosis message of type 'Commutation error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x06Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.7 301E:07 Overcurrent error
This object is a counter, which increments each diagnosis message of type 'Overcurrent error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x07Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.8 301E:08 Overvoltage error
This object is a counter, which increments each diagnosis message of type 'Overvoltage error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x08Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 307Version: 1.0
3.4.9.9 301E:09 Undervoltage error
This object is a counter, which increments each diagnosis message of type 'Undervoltage error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x09Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.10 301E:0A Power supply phase error
This object is a counter, which increments each diagnosis message of type 'Power supply phase error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0ADatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.11 301E:0B Communication error
This object is a counter, which increments each diagnosis message of type 'Communication error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary308 Version: 1.0
3.4.9.12 301E:0C TorqueOff with emergency brake
This object is a counter, which increments each diagnosis message of type 'TorqueOff with emergencybrake'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.13 301E:0D Motor connection error
This object is a counter, which increments each diagnosis message of type 'Motor connection error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.14 301E:0E Safety STO error
This object is a counter, which increments each diagnosis message of type 'Safety STO error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0EDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 309Version: 1.0
3.4.9.15 301E:0F Overspeed error
This object is a counter, which increments each diagnosis message of type 'Overspeed error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0FDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.16 301E:10 Motor Brake connection error
This object is a counter, which increments each diagnosis message of type 'Motor Brake connection error'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x10Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.9.17 301E:11 DC link connection overcurrent error
This object is a counter, which increments each diagnosis message of type 'DC link connection overcurrenterror'.
Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x11Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary310 Version: 1.0
3.4.10 301F:x AxisMain infoThis object contains internal diagnosis informations.
Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.10.1 301F:01 Operating time power stage
This object contains the operating time of the power stage (power stage enabled time).
Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefaultMax. ValueUnit sAccess / EtherCAT-State RoPDO MappingRevision All
3.4.10.2 301F:02 Persistent data primary feedback valid values
Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 311Version: 1.0
3.4.10.3 301F:03 Persistent data primary feedback serial number
Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x03Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.10.4 301F:04 Persistent data primary feedback offset
Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x04Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.10.5 301F:05 Persistent data secondary feedback valid values
Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x05Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary312 Version: 1.0
3.4.10.6 301F:06 Persistent data secondary feedback serial number
Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x06Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.10.7 301F:07 Persistent data secondary feedback offset
Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x07Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 313Version: 1.0
3.4.11 603E:x TxPDO Data invalidThis object shall indicate if the encoder measured values are in invalid state.
Description ValueIndex 0x603E (Ch A)/ 0x683E (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.11.1 603E:01 Velocity sensor actual value invalid
This object shall indicate if the velocity encoder measured value is in invalid State.
Description ValueIndex 0x603E (Ch A)/ 0x683E (Ch B)Subindex 0x01Datatype BOOLMin. ValueDefault TRUEMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.4.11.2 603E:02 Position actual value invalid
This object shall indicate if the position encoder measured value is in invalid state.
Description ValueIndex 0x603E (Ch A)/ 0x683E (Ch B)Subindex 0x02Datatype BOOLMin. ValueDefault TRUEMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary314 Version: 1.0
3.4.11.3 603E:03 1st Additional position actual value invalid
This object shall indicate if the first position encoder measured value is in invalid state.
Description ValueIndex 0x603E (Ch A)/ 0x683E (Ch B)Subindex 0x03Datatype BOOLMin. ValueDefault TRUEMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.4.11.4 603E:04 2nd Additional position actual value invalid
This object shall indicate if the second position encoder measured value is in invalid state.
Description ValueIndex 0x603E (Ch A)/ 0x683E (Ch B)Subindex 0x04Datatype BOOLMin. ValueDefault TRUEMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 315Version: 1.0
3.4.12 603F Error codeThis object shall provide the text id of the last DiagMessage of type error, which occurred in this axis.
Description ValueIndex 0x603F (Ch A)/ 0x683F (Ch B)Subindex 0x00Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary316 Version: 1.0
3.4.13 6040 ControlwordThis object shall indicate the received command controlling the PDS FSA.
Description ValueIndex 0x6040 (Ch A)/ 0x6840 (Ch B)Subindex 0x00Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary 317Version: 1.0
3.4.14 6041 StatuswordThis object shall provide the status of the PDS FSA.
Description ValueIndex 0x6041 (Ch A)/ 0x6841 (Ch B)Subindex 0x00Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary318 Version: 1.0
3.4.15 605E Fault reaction option codeThis object shall indicate which action is performed when fault is detected in the PDS.
Description ValueIndex 0x605E (Ch A)/ 0x685E (Ch B)Subindex 0x00Datatype ENUM (INT16)Min. ValueDefault Closed_loop_ramp (2)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x0002) Closed_loop_ramp0 (0x0000) Torque_Off-1 (0xFFFF) NC_Handling
Axis modules
AX8000 Object Dictionary 319Version: 1.0
3.4.16 6060 Modes of operationThis object shall indicate the requested operation mode.
Description ValueIndex 0x6060 (Ch A)/ 0x6860 (Ch B)Subindex 0x00Datatype ENUM (INT8)Min. ValueDefault Cyclic_synchronous_position_mode_CSP (8)Max. ValueUnitAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
Enum Value Description11 (0x0B) Cyclic_synchronous_torque_mode_with_commutation_angle_CST
CA10 (0x0A) Cyclic_synchronous_torque_mode_CST9 (0x09) Cyclic_synchronous_velocity_mode_CSV8 (0x08) Cyclic_synchronous_position_mode_CSP0 (0x00) No_mode_change
Axis modules
AX8000 Object Dictionary320 Version: 1.0
3.4.17 6061 Modes of operation displayThis object shall provide the actual operation mode.
Description ValueIndex 0x6061 (Ch A)/ 0x6861 (Ch B)Subindex 0x00Datatype ENUM (INT8)Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Enum Value Description11 (0x0B) Cyclic_synchronous_torque_mode_with_commutation_angle_CST
CA10 (0x0A) Cyclic_synchronous_torque_mode_CST9 (0x09) Cyclic_synchronous_velocity_mode_CSV8 (0x08) Cyclic_synchronous_position_mode_CSP0 (0x00) No_mode_change
Axis modules
AX8000 Object Dictionary 321Version: 1.0
3.4.18 6064 Position actual valueThis object shall provide the actual value of the position measurement device.
Description ValueIndex 0x6064 (Ch A)/ 0x6864 (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary322 Version: 1.0
3.4.19 606C Velocity actual valueThis object shall provide the actual velocity value derived either from the velocity sensor or the positionsensor.
Description ValueIndex 0x606C (Ch A)/ 0x686C (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)
0x3005/02 (Ch A)/ 0x3405/02 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 323Version: 1.0
3.4.20 607B:x Position range limitThis object shall indicate the configured maximal and minimal position range limits. It shall limit the numericalrange of the input value.
Description ValueIndex 0x607B (Ch A)/ 0x687B (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.20.1 607B:01 Min position range limit
The minimum position range limit.
Description ValueIndex 0x607B (Ch A)/ 0x687B (Ch B)Subindex 0x01Datatype INT32Min. ValueDefault -2147483648 (0x80000000)Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All
3.4.20.2 607B:02 Max position range limit
The maximum position range limit.
Description ValueIndex 0x607B (Ch A)/ 0x687B (Ch B)Subindex 0x02Datatype INT32Min. ValueDefault 2147483647 (0x7FFFFFFF)Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary324 Version: 1.0
3.4.21 608F:x Position encoder resolutionThis object shall indicate the configured encoder increments and number of motor revolutions.
Description ValueIndex 0x608F (Ch A)/ 0x688F (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.21.1 608F:01 Encoder increments
Position encoder resolution numerator.
Description ValueIndex 0x608F (Ch A)/ 0x688F (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 262144 (0x00040000)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.4.21.2 608F:02 Motor revolutions
Position encoder resolution denominator.
Description ValueIndex 0x608F (Ch A)/ 0x688F (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 325Version: 1.0
3.4.22 6091:x Gear ratioThis object shall indicate the configured number of motor shaft revolutions and number of driving shaftrevolutions.
Description ValueIndex 0x6091 (Ch A)/ 0x6891 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.22.1 6091:01 Motor shaft revolutions
Gear ratio numerator.
Description ValueIndex 0x6091 (Ch A)/ 0x6891 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.4.22.2 6091:02 Driving shaft revolutions
Gear ratio denominator.
Description ValueIndex 0x6091 (Ch A)/ 0x6891 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary326 Version: 1.0
3.4.23 6092:x Feed constantThis object shall indicate the configured feed constant, this is the measurement distance per one revolutionof the driving shaft of the gearbox.
Description ValueIndex 0x6092 (Ch A)/ 0x6892 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.23.1 6092:01 Feed
Feed constant numerator.
Description ValueIndex 0x6092 (Ch A)/ 0x6892 (Ch B)Subindex 0x01Datatype ENUM (UINT32)Min. ValueDefault eFeedConstant_2Pow20 (1048576)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description1000000000 (0x3B9ACA00) eFeedConstant_10Pow9268435456 (0x10000000) eFeedConstant_2Pow28134217728 (0x08000000) eFeedConstant_2Pow27100000000 (0x05F5E100) eFeedConstant_10Pow867108864 (0x04000000) eFeedConstant_2Pow2633554432 (0x02000000) eFeedConstant_2Pow2516777216 (0x01000000) eFeedConstant_2Pow2410000000 (0x00989680) eFeedConstant_10Pow78388608 (0x00800000) eFeedConstant_2Pow234194304 (0x00400000) eFeedConstant_2Pow222097152 (0x00200000) eFeedConstant_2Pow211048576 (0x00100000) eFeedConstant_2Pow201000000 (0x000F4240) eFeedConstant_10Pow6524288 (0x00080000) eFeedConstant_2Pow19262144 (0x00040000) eFeedConstant_2Pow18131072 (0x00020000) eFeedConstant_2Pow17100000 (0x000186A0) eFeedConstant_10Pow5
Axis modules
AX8000 Object Dictionary 327Version: 1.0
Enum Value Description65536 (0x00010000) eFeedConstant_2Pow1610000 (0x00002710) eFeedConstant_10Pow41000 (0x000003E8) eFeedConstant_10Pow3100 (0x00000064) eFeedConstant_10Pow210 (0x0000000A) eFeedConstant_10Pow11 (0x00000001) eFeedConstant_10Pow0
3.4.23.2 6092:02 Shaft revolutions
Feed constant denominator.
Description ValueIndex 0x6092 (Ch A)/ 0x6892 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary328 Version: 1.0
3.4.24 6096:x Velocity factorThe velocity factor can be used to match the velocity units to the user defined velocity units.
Description ValueIndex 0x6096 (Ch A)/ 0x6896 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.24.1 6096:01 Numerator
Velocity factor numerator.
Description ValueIndex 0x6096 (Ch A)/ 0x6896 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 600000 (0x000927C0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.4.24.2 6096:02 Divisor
Velocity factor denominator.
Description ValueIndex 0x6096 (Ch A)/ 0x6896 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 1048576 (0x00100000)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 329Version: 1.0
3.4.25 6097:x Acceleration factorThe acceleration factor can be used to match the acceleration units to the user defined acceleration units.
Description ValueIndex 0x6097 (Ch A)/ 0x6897 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.25.1 6097:01 Numerator
Acceleration factor numerator.
Description ValueIndex 0x6097 (Ch A)/ 0x6897 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 360 (0x00000168)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.4.25.2 6097:02 Divisor
Acceleration factor denominator.
Description ValueIndex 0x6097 (Ch A)/ 0x6897 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 600000 (0x000927C0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary330 Version: 1.0
3.4.26 60A2:x Jerk factorThe jerk factor can be used to match the jerk units to the user defined jerk units.
Description ValueIndex 0x60A2 (Ch A)/ 0x68A2 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.26.1 60A2:01 Numerator
Jerk factor numerator.
Description ValueIndex 0x60A2 (Ch A)/ 0x68A2 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 360 (0x00000168)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.4.26.2 60A2:02 Divisor
Jerk factor denominator.
Description ValueIndex 0x60A2 (Ch A)/ 0x68A2 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 60000000 (0x03938700)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 331Version: 1.0
3.4.27 60B8 Touch probe controlThis object shall indicate the configured function of the touch probe. We recommend to configure touchprobe source via object 0x60D0.
Description ValueIndex 0x60B8 (Ch A)/ 0x68B8 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 14392 (0x3838)Max. Value 65535 (0xFFFF)UnitAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary332 Version: 1.0
3.4.28 60B9 Touch probe statusThis object shall provide the status of the touch probe.
Description ValueIndex 0x60B9 (Ch A)/ 0x68B9 (Ch B)Subindex 0x00Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 333Version: 1.0
3.4.29 60BA Touch probe 1 positive edgeThis object shall provide the position value of the touch probe 1 at positive edge.
Description ValueIndex 0x60BA (Ch A)/ 0x68BA (Ch B)Subindex 0x00Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary334 Version: 1.0
3.4.30 60BB Touch probe 1 negative edgeThis object shall provide the position value of the touch probe 1 at negative edge.
Description ValueIndex 0x60BB (Ch A)/ 0x68BB (Ch B)Subindex 0x00Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 335Version: 1.0
3.4.31 60BC Touch probe 2 positive edgeThis object shall provide the position value of the touch probe 2 at positive edge.
Description ValueIndex 0x60BC (Ch A)/ 0x68BC (Ch B)Subindex 0x00Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary336 Version: 1.0
3.4.32 60BD Touch probe 2 negative edgeThis object shall provide the position value of the touch probe 2 at negative edge.
Description ValueIndex 0x60BD (Ch A)/ 0x68BD (Ch B)Subindex 0x00Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 337Version: 1.0
3.4.33 60D0:x Touch probe sourceThis object shall provide the source of the touch probe functions.
Description ValueIndex 0x60D0 (Ch A)/ 0x68D0 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.33.1 60D0:01 Touch probe 1 source
This object shall provide the source of the touch probe functions.
Description ValueIndex 0x60D0 (Ch A)/ 0x68D0 (Ch B)Subindex 0x01Datatype INT16Min. Value 1 (0x0001)Default 3 (0x0003)Max. Value 6 (0x0006)UnitAccess / EtherCAT-State RwPDO MappingRevision All
3.4.33.2 60D0:02 Touch probe 2 source
This object shall provide the source of the touch probe functions.
Description ValueIndex 0x60D0 (Ch A)/ 0x68D0 (Ch B)Subindex 0x02Datatype INT16Min. Value 1 (0x0001)Default 4 (0x0004)Max. Value 6 (0x0006)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary338 Version: 1.0
3.4.34 60D1 Touch probe time stamp 1 positive edgeThis object shall provide the time stamp value of the touch probe 1 at positive edge.
Description ValueIndex 0x60D1 (Ch A)/ 0x68D1 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnit nsAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 339Version: 1.0
3.4.35 60D2 Touch probe time stamp 1 negative edgeThis object shall provide the time stamp value of the touch probe 1 at negative edge.
Description ValueIndex 0x60D2 (Ch A)/ 0x68D2 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnit nsAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary340 Version: 1.0
3.4.36 60D3 Touch probe time stamp 2 positive edgeThis object shall provide the time stamp value of the touch probe 2 at positive edge.
Description ValueIndex 0x60D3 (Ch A)/ 0x68D3 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnit nsAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 341Version: 1.0
3.4.37 60D4 Touch probe time stamp 2 negative edgeThis object shall provide the time stamp value of the touch probe 1 at negative edge.
Description ValueIndex 0x60D4 (Ch A)/ 0x68D4 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnit nsAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary342 Version: 1.0
3.4.38 60D9 Supported functionsThis object shall provide information on the supported function in the device. (see ETG6010)
Description ValueIndex 0x60D9 (Ch A)/ 0x68D9 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 7 (0x00000007)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 343Version: 1.0
3.4.39 60DA Function settingsThis object shall enable/disable supported functions in the device. (see ETG6010)
Description ValueIndex 0x60DA (Ch A)/ 0x68DA (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary344 Version: 1.0
3.4.40 60E4:x Additional position actual valueThis object provides the additional position actual values.
Description ValueIndex 0x60E4 (Ch A)/ 0x68E4 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.40.1 60E4:01 1st additional position actual value
This Subindex contains the Value for the first additional Encoder. (The first additional Encoder is the secondencoder.)
Description ValueIndex 0x60E4 (Ch A)/ 0x68E4 (Ch B)Subindex 0x01Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 345Version: 1.0
3.4.41 60E5:x Additional velocity actual valueThis object provides the additional velocity actual values.
Description ValueIndex 0x60E5 (Ch A)/ 0x68E5 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.41.1 60E5:01 1st additional velocity actual value
This Subindex contains the Value for the first additional Encoder. (The first additional Encoder is the secondencoder.)
Description ValueIndex 0x60E5 (Ch A)/ 0x68E5 (Ch B)Subindex 0x01Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)
0x3005/02 (Ch A)/ 0x3405/02 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary346 Version: 1.0
3.4.42 60E6:x Additional position encoder resolution encoderincrements
This object provides the encoder increments for the additional position encoder resolution. This object shallbe used with the corresponding sub-index of the object 60EBh (motor revolutions for the additional positionencoder resolution).
Description ValueIndex 0x60E6 (Ch A)/ 0x68E6 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.42.1 60E6:01 1st additional position encoder resolution - encoder increments
This sub-index contains the value for the first additional encoder. (The first additional encoder is the secondencoder.)
Description ValueIndex 0x60E6 (Ch A)/ 0x68E6 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 262144 (0x00040000)Max. ValueUnit incAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 347Version: 1.0
3.4.43 60E8:x Additional gear ratio motor revolutionsThis object provides the motor shaft revolutions for the additional gear ratio calculation. This object shall beused with the corresponding sub-index of the object 60EDh (driving shaft revolutions for the additional gearratio calculation).
Description ValueIndex 0x60E8 (Ch A)/ 0x68E8 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.43.1 60E8:01 1st additional gear ratio - motor revolutions
This sub-index contains the value for the first additional encoder. (The first additional encoder is the secondencoder.)
Description ValueIndex 0x60E8 (Ch A)/ 0x68E8 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary348 Version: 1.0
3.4.44 60E9:x Additional feed constant feedThis object provides the feed for the additional feed constant calculation. This object shall be used with thecorresponding sub-index of the object 60EEh (driving shaft revolutions for the additional feed constantcalculation).
Description ValueIndex 0x60E9 (Ch A)/ 0x68E9 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.44.1 60E9:01 1st additional feed constant - feed
This sub-index contains the value for the first additional encoder. (The first additional encoder is the secondencoder.)
Description ValueIndex 0x60E9 (Ch A)/ 0x68E9 (Ch B)Subindex 0x01Datatype ENUM (UINT32)Min. ValueDefault eFeedConstant_2Pow20 (1048576)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description1000000000 (0x3B9ACA00) eFeedConstant_10Pow9268435456 (0x10000000) eFeedConstant_2Pow28134217728 (0x08000000) eFeedConstant_2Pow27100000000 (0x05F5E100) eFeedConstant_10Pow867108864 (0x04000000) eFeedConstant_2Pow2633554432 (0x02000000) eFeedConstant_2Pow2516777216 (0x01000000) eFeedConstant_2Pow2410000000 (0x00989680) eFeedConstant_10Pow78388608 (0x00800000) eFeedConstant_2Pow234194304 (0x00400000) eFeedConstant_2Pow222097152 (0x00200000) eFeedConstant_2Pow211048576 (0x00100000) eFeedConstant_2Pow201000000 (0x000F4240) eFeedConstant_10Pow6524288 (0x00080000) eFeedConstant_2Pow19262144 (0x00040000) eFeedConstant_2Pow18131072 (0x00020000) eFeedConstant_2Pow17
Axis modules
AX8000 Object Dictionary 349Version: 1.0
Enum Value Description100000 (0x000186A0) eFeedConstant_10Pow565536 (0x00010000) eFeedConstant_2Pow1610000 (0x00002710) eFeedConstant_10Pow41000 (0x000003E8) eFeedConstant_10Pow3100 (0x00000064) eFeedConstant_10Pow210 (0x0000000A) eFeedConstant_10Pow11 (0x00000001) eFeedConstant_10Pow0
Axis modules
AX8000 Object Dictionary350 Version: 1.0
3.4.45 60EB:x Additional position encoder resolution motorrevolutions
This object provides the motor revolutions for the additional position encoder resolution. This object shall beused with the corresponding sub-index of the object 60E6h (encoder increments for the additional positionencoder resolution).
Description ValueIndex 0x60EB (Ch A)/ 0x68EB (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.45.1 60EB:01 1st additional position encoder resolution - motor revolutions
This sub-index contains the value for the first additional encoder. (The first additional encoder is the secondencoder.)
Description ValueIndex 0x60EB (Ch A)/ 0x68EB (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 351Version: 1.0
3.4.46 60ED:x Additional gear ratio shaft revolutionsThis object provides the driving shaft revolutions for the additional gear ratio calculation. This object shall beused with the corresponding sub-index of the object 60E8h (motor shaft revolutions for the additional gearratio calculation).
Description ValueIndex 0x60ED (Ch A)/ 0x68ED (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.46.1 60ED:01 1st additional gear ratio - driving shaft revolutions
This sub-index contains the value for the first additional encoder. (The first additional encoder is the secondencoder.)
Description ValueIndex 0x60ED (Ch A)/ 0x68ED (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary352 Version: 1.0
3.4.47 60EE:x Additional feed constant driving shaft revolutionsThis object provides the driving shaft revolutions for the additional feed constant calculation. This object shallbe used with the corresponding sub-index of the object 60E9h (feed for the additional feed constantcalculation).
Description ValueIndex 0x60EE (Ch A)/ 0x68EE (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.4.47.1 60EE:01 1st additional feed constant - driving shaft revolutions
This sub-index contains the value for the first additional encoder. (The first additional encoder is the secondencoder.)
Description ValueIndex 0x60EE (Ch A)/ 0x68EE (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 353Version: 1.0
3.4.48 60FD Digital inputsThis object shall provide digital inputs. This object represents the physical input levels.
Description ValueIndex 0x60FD (Ch A)/ 0x68FD (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary354 Version: 1.0
3.4.49 6502 Supported drive modesThis object shall provide information on the supported drive modes.
Description ValueIndex 0x6502 (Ch A)/ 0x6D02 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 1920 (0x00000780)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 355Version: 1.0
3.5 Objects of module Interpolator
3.5.1 3061:x Interpolator actual valuesThis object contains manufacturer specific actual values from the module Interpolator.
Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.5.1.1 3061:01 Interpolated position demand value
This object contains the position demand value of the interpolator.
Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x01Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary356 Version: 1.0
3.5.1.2 3061:02 Interpolated velocity demand value
This object contains the velocity demand value of the interpolator.
Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)
0x3005/08 (Ch A)/ 0x3405/08 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.5.1.3 3061:03 Interpolated acceleration demand value
This object indicates the torque/force controller demand value from the interpolator.
Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 °/s^2)
0x3005/03 (Ch A)/ 0x3405/03 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.5.1.4 3061:04 IpoStatus
TODO:Not implemented Yet
Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x04Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 357Version: 1.0
3.5.2 3062:x Interpolator parameters feed forwardThis object contains parameters to configure the feed forward control
Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.5.2.1 3062:01 Velocity feed forward gain
This object contains the gain of the velocity feed forward signal.
Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 1.0Max. Value 1.2UnitAccess / EtherCAT-State RwPDO MappingRevision All
3.5.2.2 3062:02 Velocity feed forward filter time constant
This object contains the filter time constant of the velocity feed forward signal.
Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.0Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary358 Version: 1.0
3.5.2.3 3062:03 Acceleration feed forward gain
This object contains the gain of the acceleration feed forward signal.
Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. Value 2.0UnitAccess / EtherCAT-State RwPDO MappingRevision All
3.5.2.4 3062:04 Acceleration feed forward filter time constant
This object contains the filter time constant of the acceleration feed forward signal.
Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x04Datatype REAL32Min. Value 0.0Default 0.0Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 359Version: 1.0
3.5.3 607A Target positionThis object shall indicate the commanded position that the drive should move to in position profile modeusing the current settings of motion control parameters such as velocity, acceleration, deceleration, motionprofile type etc.
Description ValueIndex 0x607A (Ch A)/ 0x687A (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary360 Version: 1.0
3.5.4 60B0 Position offsetThis object shall provide the offset of the target position. The offset shall be given in userdefined positionunits.
Description ValueIndex 0x60B0 (Ch A)/ 0x68B0 (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary 361Version: 1.0
3.5.5 60B1 Velocity offsetThis object shall provide the offset for the velocity value. The offset shall be given in userdefined velocityunits.
Description ValueIndex 0x60B1 (Ch A)/ 0x68B1 (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)
0x3005/02 (Ch A)/ 0x3405/02 (Ch B)Access / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary362 Version: 1.0
3.5.6 60C0 Interpolation sub mode selectThis object shall indicate the actually chosen interpolation mode for the cyclic synchronous position mode(CSP).
Description ValueIndex 0x60C0 (Ch A)/ 0x68C0 (Ch B)Subindex 0x00Datatype ENUM (INT16)Min. ValueDefault Linear (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description0 (0x0000) Linear-2 (0xFFFE) Cubic
Axis modules
AX8000 Object Dictionary 363Version: 1.0
3.5.7 60FF Target velocityThis object shall indicate the configured target velocity and shall be used as input for the trajectorygenerator. The value shall be given in user-defined velocity units.
Description ValueIndex 0x60FF (Ch A)/ 0x68FF (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)
0x3005/02 (Ch A)/ 0x3405/02 (Ch B)Access / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary364 Version: 1.0
3.6 Objects of module PositionControl
3.6.1 30C0:x PosCtrl parameters mappableThis record contains all mappable parameters of this module.
Description ValueIndex PositionControlSlot: 0x30C0 (Ch A)/ 0x34C0 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.6.1.1 30C0:01 Position control proportional gain
This object contains the proportional gain of the position controller.
Description ValueIndex PositionControlSlot: 0x30C0 (Ch A)/ 0x34C0 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 1.0Max. ValueUnit 1/sAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary 365Version: 1.0
3.6.2 30C3:x PosCtrl parametersThis object contains not mappable parameters of the position control module.
Description ValueIndex PositionControlSlot: 0x30C3 (Ch A)/ 0x34C3 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.6.2.1 30C3:01 Velocity demand value filter time constant
This object contains the filter time constant of the velocity feed forward signal.
Description ValueIndex PositionControlSlot: 0x30C3 (Ch A)/ 0x34C3 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.0Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary366 Version: 1.0
3.6.3 6065 Following error windowThis object shall indicate the configured range of tolerated position values symmetrically to the positiondemand value. If the position actual value is out of the following error window, a following error occurs. Afollowing error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed-loop coefficients. The value shall be given in userdefined position units. If the value of the following errorwindow is FFFF FFFFh or 0000 0000h, the following control shall be switched off.
Description ValueIndex 0x6065 (Ch A)/ 0x6865 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 1048576 (0x00100000)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 367Version: 1.0
3.6.4 6066 Following error time outThis object shall indicate the configured time for a following error condition.
Description ValueIndex 0x6066 (Ch A)/ 0x6866 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 0Max. Value 65535 (0xFFFF)Unit msAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary368 Version: 1.0
3.6.5 60F4 Following error actual valueThis object shall provide the actual value of the following error. The value shall be given in user-definedposition units.
Description ValueIndex 0x60F4 (Ch A)/ 0x68F4 (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)
0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 369Version: 1.0
3.7 Objects of module VelocityControl
3.7.1 3140:x VeloCtrl parameters mappableThis record contains all mappable parameters of this module.
Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.7.1.1 3140:01 Velocity control proportional gain
This object contains the proportional gain of the velocity controller.
Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.01Max. ValueUnit depends on value of Object (default = x * 1 Nm/rad/s)
0x3005/09 (Ch A)/ 0x3405/09 (Ch B)Access / EtherCAT-State RwPDO Mapping ReceiveRevision All
3.7.1.2 3140:02 Velocity control integral action time
This object contains the integral action time of the velocity controller.
Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.01Max. Value 5.0Unit sAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary370 Version: 1.0
3.7.1.3 3140:03 Bipolar velocity limit value
In this object you can configure the maximum velocity of this axis.
Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. ValueUnit depends on value of Object (default = x * 1 rpm)
0x3005/08 (Ch A)/ 0x3405/08 (Ch B)Access / EtherCAT-State RwPDO Mapping ReceiveRevision All
3.7.1.4 3140:04 Reserved
This object is reserved for further development
Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
3.7.1.5 3140:05 Weight counterbalance
In object you can configure the stationary torque/force of a vertical axis.
Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefault 0.0Max. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary 371Version: 1.0
3.7.1.6 3140:06 Reserved 2
This object is reserved for further development
Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
3.7.1.7 3140:07 Load inertia
This object is to configure the inertia of the application or load
Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x07Datatype REAL32Min. Value 0.0Default 0.0Max. ValueUnit kg m^2Access / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary372 Version: 1.0
3.7.2 3141:x VeloCtrl actual valuesThis object contains manufacturer specific actual values from the module VelocityControl.
Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.7.2.1 3141:01 PosCtrl velocity demand value
This object contains the velocity demand value of the position controller.
Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)
0x3005/08 (Ch A)/ 0x3405/08 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.7.2.2 3141:02 Limited velocity demand value
This object contains the velocity demand value inside the actual velocity limit range.
Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)
0x3005/08 (Ch A)/ 0x3405/08 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 373Version: 1.0
3.7.2.3 3141:03 Velocity actual value velocity observer
This object contains the velocity actual value of the configured velocity observer.
Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)
0x3005/08 (Ch A)/ 0x3405/08 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.7.2.4 3141:04 Velocity error
This object contains the velocity error of the velocity controller.
Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)
0x3005/08 (Ch A)/ 0x3405/08 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.7.2.5 3141:05 Velocity resulting from differentiation
This object contains the velocity actual value resulting from the position differentiation.
Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x05Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)
0x3005/02 (Ch A)/ 0x3405/02 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary374 Version: 1.0
3.7.2.6 3141:06 Total inertia
This object contains the total inertia. Its summarized inertia application and j/m of motor, brake and encoder.
Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefaultMax. ValueUnit kg m^2Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.7.2.7 3141:07 VeloCtrl statusword
This object contains the velocity control statusword.
Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x07Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 375Version: 1.0
3.7.3 3142:x VeloCtrl parametersThis object contains not mappable parameters of the velocity control module.
Description ValueIndex VelocityControlSlot: 0x3142 (Ch A)/ 0x3542 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.7.3.1 3142:01 Velocity error tolerance
This parameter is to relax/raise the level of the overspeed error. The default level is value of the object "Maxmotor speed". The value of this parameter will be added to the default level. The value shall be given perthousand of the object "Max motor speed".
Description ValueIndex VelocityControlSlot: 0x3142 (Ch A)/ 0x3542 (Ch B)Subindex 0x01Datatype UINT32Min. Value 0Default 0Max. Value 5000 (0x00001388)Unit 0,1 %Access / EtherCAT-State RwPDO MappingRevision All
3.7.3.2 3142:02 Quick stop jerk
This object shall indicate the configured jerk used to stop the motor with fault reaction slow down ramp.
Description ValueIndex VelocityControlSlot: 0x3142 (Ch A)/ 0x3542 (Ch B)Subindex 0x02Datatype UINT32Min. Value 0Default 0Max. Value 615208748 (0x24AB572C)Unit depends on value of Object (default = x * 100 °/s^3)
0x3005/04 (Ch A)/ 0x3405/04 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary376 Version: 1.0
3.7.4 3143:x VeloCtrl observerThis object contains parameters to configure the velocity observer.
Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.7.4.1 3143:01 Damping
This object configures the damping coefficient of the observer.
Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.2Default 0.707Max. Value 1.0UnitAccess / EtherCAT-State RwPDO MappingRevision All
3.7.4.2 3143:02 Bandwidth
This object configures the bandwidth of the observer.
Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x02Datatype REAL32Min. Value 25.0Default 500.0Max. Value 2000.0Unit HzAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 377Version: 1.0
3.7.4.3 3143:03 Correction factor torque to acceleration
This object configures the torque/force actual to acceleration factor. It is to feed forward the observer with theactual torque/force to estimate the acceleration.
Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 1.0Max. Value 8.0UnitAccess / EtherCAT-State RwPDO MappingRevision All
3.7.4.4 3143:04 Observer type
This object indicates the observer type. Choose Off for differential calculation of Velocity actual value,choose Basic to enable third order observing.
Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x04Datatype ENUM (INT16)Min. ValueDefault Off (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x02) Advanced1 (0x01) Basic0 (0x00) Off
Axis modules
AX8000 Object Dictionary378 Version: 1.0
3.7.5 606F Velocity thresholdThis object shall indicate the configured velocity threshold. The value shall be given in user defined velocityunits.
Description ValueIndex 0x606F (Ch A)/ 0x686F (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 50000 (0x0000C350)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * 0.0001 rpm)
0x3005/02 (Ch A)/ 0x3405/02 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 379Version: 1.0
3.7.6 6070 Velocity threshold timeThis object shall indicate the configured velocity threshold time.
Description ValueIndex 0x6070 (Ch A)/ 0x6870 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 0Max. Value 65535 (0xFFFF)Unit msAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary380 Version: 1.0
3.7.7 6085 Quick stop decelerationThis object shall indicate the configured deceleration used to stop the motor with fault reaction slow downramp.
Description ValueIndex 0x6085 (Ch A)/ 0x6885 (Ch B)Subindex 0x00Datatype UINT32Min. Value 30 (0x0000001E)Default 36000 (0x00008CA0)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * 1 °/s^2)
0x3005/03 (Ch A)/ 0x3405/03 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 381Version: 1.0
3.7.8 60C5 Max accelerationThis object shall indicate the configured maximum acceleration.
Description ValueIndex 0x60C5 (Ch A)/ 0x68C5 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 4294967295 (0xFFFFFFFF)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * 1 °/s^2)
0x3005/03 (Ch A)/ 0x3405/03 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary382 Version: 1.0
3.7.9 60C6 Max decelerationThis object shall indicate the configured maximum deceleration.
Description ValueIndex 0x60C6 (Ch A)/ 0x68C6 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 4294967295 (0xFFFFFFFF)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * 1 °/s^2)
0x3005/03 (Ch A)/ 0x3405/03 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 383Version: 1.0
3.8 Objects of module BiquadFilter
3.8.1 3163:x [SL] BiquadFilter parametersThis object contains parameters to configure a filter
Description ValueIndex BiquadFilter1: 0x3163 (Ch A)/ 0x3563 (Ch B)
BiquadFilter2: 0x3183 (Ch A)/ 0x3583 (Ch B)BiquadFilter3: 0x31A3 (Ch A)/ 0x35A3 (Ch B)BiquadFilter4: 0x31C3 (Ch A)/ 0x35C3 (Ch B)
Subindex 0x00Datatype UINT8Min. ValueDefault 5 (0x05)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.8.1.1 3163:01 Low pass frequency
This object is to configure the low pass frequency of the configured filter type.
Description ValueIndex BiquadFilter1: 0x3163 (Ch A)/ 0x3563 (Ch B)
BiquadFilter2: 0x3183 (Ch A)/ 0x3583 (Ch B)BiquadFilter3: 0x31A3 (Ch A)/ 0x35A3 (Ch B)BiquadFilter4: 0x31C3 (Ch A)/ 0x35C3 (Ch B)
Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.0Max. Value 4000.0Unit HzAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary384 Version: 1.0
3.8.1.2 3163:02 Low pass damping
This object is to configure the low pass damping of the configured filter type.
Description ValueIndex BiquadFilter1: 0x3163 (Ch A)/ 0x3563 (Ch B)
BiquadFilter2: 0x3183 (Ch A)/ 0x3583 (Ch B)BiquadFilter3: 0x31A3 (Ch A)/ 0x35A3 (Ch B)BiquadFilter4: 0x31C3 (Ch A)/ 0x35C3 (Ch B)
Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.0Max. Value 1.0UnitAccess / EtherCAT-State RwPDO MappingRevision All
3.8.1.3 3163:03 High pass frequency
This object is to configure the high pass frequency of the configured filter type.
Description ValueIndex BiquadFilter1: 0x3163 (Ch A)/ 0x3563 (Ch B)
BiquadFilter2: 0x3183 (Ch A)/ 0x3583 (Ch B)BiquadFilter3: 0x31A3 (Ch A)/ 0x35A3 (Ch B)BiquadFilter4: 0x31C3 (Ch A)/ 0x35C3 (Ch B)
Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. Value 4000.0Unit HzAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 385Version: 1.0
3.8.1.4 3163:04 High pass damping
This object is to configure the high pass damping of the configured filter type.
Description ValueIndex BiquadFilter1: 0x3163 (Ch A)/ 0x3563 (Ch B)
BiquadFilter2: 0x3183 (Ch A)/ 0x3583 (Ch B)BiquadFilter3: 0x31A3 (Ch A)/ 0x35A3 (Ch B)BiquadFilter4: 0x31C3 (Ch A)/ 0x35C3 (Ch B)
Subindex 0x04Datatype REAL32Min. Value 0.0Default 0.0Max. Value 1.0UnitAccess / EtherCAT-State RwPDO MappingRevision All
3.8.1.5 3163:05 Filter type
This object is to configure the required filter type.
Description ValueIndex BiquadFilter1: 0x3163 (Ch A)/ 0x3563 (Ch B)
BiquadFilter2: 0x3183 (Ch A)/ 0x3583 (Ch B)BiquadFilter3: 0x31A3 (Ch A)/ 0x35A3 (Ch B)BiquadFilter4: 0x31C3 (Ch A)/ 0x35C3 (Ch B)
Subindex 0x05Datatype ENUM (INT16)Min. ValueDefault No_Filter (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description5 (0x05) Notch_filter4 (0x04) Phase_correction_filter_2_order3 (0x03) Low_pass_filter_2_order2 (0x02) Phase_correction_filter_1_order1 (0x01) Low_pass_filter_1_order0 (0x00) No_Filter
Axis modules
AX8000 Object Dictionary386 Version: 1.0
3.8.2 3164 [SL] Filter input signalThis object contains the filter input signal.
Description ValueIndex BiquadFilter1: 0x3164 (Ch A)/ 0x3564 (Ch B)
BiquadFilter2: 0x3184 (Ch A)/ 0x3584 (Ch B)BiquadFilter3: 0x31A4 (Ch A)/ 0x35A4 (Ch B)BiquadFilter4: 0x31C4 (Ch A)/ 0x35C4 (Ch B)
Subindex 0x00Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
BiquadFilter1: 0x3166/00 (Ch A)/ 0x3566/00 (Ch B)BiquadFilter2: 0x3186/00 (Ch A)/ 0x3586/00 (Ch B)BiquadFilter3: 0x31A6/00 (Ch A)/ 0x35A6/00 (Ch B)BiquadFilter4: 0x31C6/00 (Ch A)/ 0x35C6/00 (Ch B)
Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 387Version: 1.0
3.8.3 3165 [SL] Filter output signalThis object contains the filter output signal.
Description ValueIndex BiquadFilter1: 0x3165 (Ch A)/ 0x3565 (Ch B)
BiquadFilter2: 0x3185 (Ch A)/ 0x3585 (Ch B)BiquadFilter3: 0x31A5 (Ch A)/ 0x35A5 (Ch B)BiquadFilter4: 0x31C5 (Ch A)/ 0x35C5 (Ch B)
Subindex 0x00Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
BiquadFilter1: 0x3166/00 (Ch A)/ 0x3566/00 (Ch B)BiquadFilter2: 0x3186/00 (Ch A)/ 0x3586/00 (Ch B)BiquadFilter3: 0x31A6/00 (Ch A)/ 0x35A6/00 (Ch B)BiquadFilter4: 0x31C6/00 (Ch A)/ 0x35C6/00 (Ch B)
Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary388 Version: 1.0
3.8.4 3166 [SL] BiquadFilter scaling indexThis object contains the scaling index of the filtered values.
Description ValueIndex BiquadFilter1: 0x3166 (Ch A)/ 0x3566 (Ch B)
BiquadFilter2: 0x3186 (Ch A)/ 0x3586 (Ch B)BiquadFilter3: 0x31A6 (Ch A)/ 0x35A6 (Ch B)BiquadFilter4: 0x31C6 (Ch A)/ 0x35C6 (Ch B)
Subindex 0x00Datatype UINT32Min. ValueDefault 20480 (0x00005000)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 389Version: 1.0
3.9 Objects of module TorqueControl
3.9.1 3240:x TorqueCtrl parameters mappableThis record contains all mappable parameters of this module.
Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.9.1.1 3240:01 Torque control proportional gain q
This object contains the proportional gain of the torque/force controller.
Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 100.0Max. Value 1000.0Unit V/AAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
3.9.1.2 3240:02 Torque control integral action time q
This object contains the integral action time of the torque/force controller.
Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0001Default 0.001Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary390 Version: 1.0
3.9.1.3 3240:03 Torque control proportional gain d
This object contains the second proportional gain of the torque/force controller.
Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. Value 1000.0Unit V/AAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
3.9.1.4 3240:04 Torque control integral action time d
This object contains the second integral action time of the torque/force controller.
Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x04Datatype REAL32Min. Value 0.0001Default 0.001Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary 391Version: 1.0
3.9.2 3241:x TorqueCtrl actual valuesThis object contains manufacturer specific actual values from the module torque/force control.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 10 (0x0A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.9.2.1 3241:01 VeloCtrl torque/force demand value
This object indicates the torque/force controller demand value from the velocity controller.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.2.2 3241:02 Ipo torque/force demand value
This object indicates the torque/force controller feed forward value from the Interpolator.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary392 Version: 1.0
3.9.2.3 3241:03 Limited torque/force demand value
This object indicates the effective torque/force demand value.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.2.4 3241:04 Filtered torque/force demand value
This object indicates the filtered torque/force demand value.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.2.5 3241:05 Reserved
This object is reserved for further development
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 393Version: 1.0
3.9.2.6 3241:06 Torque ctrl statusword
This object shall provide the status of the torque/force controller.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x06Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.2.7 3241:07 Pos torque/force limit effective
This object indicates the effective positve torque/force limit.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x07Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.2.8 3241:08 Neg torque/force limit effective
This object indicates the effective negative torque/force limit.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x08Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary394 Version: 1.0
3.9.2.9 3241:09 TorCtrl torque/force actual value
This object indicates the actual value of torque/force.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x09Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.2.10 3241:0A Deceleration torque/force limit actual
This object indicates the actual torque/force limit for deceleration due to regenerative power limitations.
Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x0ADatatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 395Version: 1.0
3.9.3 3242:x TorqueCtrl actual values2This object contains parameters to configure the torque/force controller.
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 20 (0x14)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.9.3.1 3242:01 Iq TorqueProportional demand
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.2 3242:02 Id demand
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary396 Version: 1.0
3.9.3.3 3242:03 Iq TorqueProportional actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.4 3242:04 Iq actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.5 3242:05 Id actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 397Version: 1.0
3.9.3.6 3242:06 Iu actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.7 3242:07 Iv actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x07Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.8 3242:08 Iw actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x08Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary398 Version: 1.0
3.9.3.9 3242:09 Ialpha actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x09Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.10 3242:0A Ibeta actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0ADatatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.11 3242:0B Irms actual
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0BDatatype REAL32Min. ValueDefault 0.0Max. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 399Version: 1.0
3.9.3.12 3242:0C Thermal channel utilization
This object contains the actual thermal IGBT utilization.
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0CDatatype REAL32Min. ValueDefaultMax. ValueUnit %Access / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.13 3242:0D I2 Channel
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0DDatatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.14 3242:0F Uq actual
internal voltage value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0FDatatype REAL32Min. ValueDefaultMax. ValueUnit VAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary400 Version: 1.0
3.9.3.15 3242:10 Ud actual
internal voltage value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x10Datatype REAL32Min. ValueDefaultMax. ValueUnit VAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.16 3242:11 Urms actual
Internal motor phase voltage value. (2/3 of Motor voltage)
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x11Datatype REAL32Min. ValueDefaultMax. ValueUnit VAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.17 3242:12 Electrical power
Internal motor phase power value. (2/3 of motor power)
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x12Datatype REAL32Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 401Version: 1.0
3.9.3.18 3242:13 Mechanical power
Internal power value. (Motor)
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x13Datatype REAL32Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.9.3.19 3242:14 Iuvw sum
internal current value
Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x14Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary402 Version: 1.0
3.9.4 3243:x TorqueCtrl parametersThis object contains not mappable parameters of the TorqueControl module.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 8 (0x08)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.9.4.1 3243:01 Configured channel rated current
This object configures the channel rated current. The range of this object depends on 'Channel ratedcurrent' (0x3243:03) and the on the configuration of the optional other channel. The summation is limited.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.0Max. Value 10000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All
3.9.4.2 3243:02 Configured channel peak current
This object configures the channel peak current. The range of this object depends on 'Channel peakcurrent' (0x3243:04) and the on the configuration of the optional other channel. The summation is limited.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.0Max. Value 10000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 403Version: 1.0
3.9.4.3 3243:03 Channel rated current
This read only object indicates the maximal channel rated current. This value dependents on the mainsvoltage and the PWM frequency.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO MappingRevision All
3.9.4.4 3243:04 Channel peak current
This read only object indicates the maximal channel peak current. This value dependents on the mainsvoltage and the PWM frequency.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO MappingRevision All
3.9.4.5 3243:05 Configured channel peak torque/force
This read only object provides the configured channel peak torque/force. The value of this object depends onthe motor and the configured peak current.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)
0x3005/05 (Ch A)/ 0x3405/05 (Ch B)Access / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary404 Version: 1.0
3.9.4.6 3243:06 Max channel accepted velocity
This object contains maximum accepted velocity demand value to prevent high back EMF.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)
0x3005/08 (Ch A)/ 0x3405/08 (Ch B)Access / EtherCAT-State RoPDO MappingRevision All
3.9.4.7 3243:07 Iuvw max sum
This object configures the maximum accepted value in Iuvw sum.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x07Datatype REAL32Min. Value 0.0Default 2.5Max. ValueUnit AAccess / EtherCAT-State RwPDO MappingRevision All
3.9.4.8 3243:08 Amplifier output voltage slope
This object configures the channel maximum voltage slope.
Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x08Datatype REAL32Min. ValueDefault 0.0Max. ValueUnit V/sAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 405Version: 1.0
3.9.5 3244:x TorqueCtrl demand valuesThis record contains mappable demand values of this module.
Description ValueIndex TorqueControlSlot: 0x3244 (Ch A)/ 0x3644 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.9.5.1 3244:01 Id demand value
This object contains the d-Current demand value of the torque/force controller. (only active in CSTCA)
Description ValueIndex TorqueControlSlot: 0x3244 (Ch A)/ 0x3644 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary406 Version: 1.0
3.9.6 6071 Target torque/forceThis object shall indicate the configured input value for the torque/force controller. The value shall be givenper thousand of motor standstill torque/force (0x6076).
Description ValueIndex 0x6071 (Ch A)/ 0x6871 (Ch B)Subindex 0x00Datatype INT16Min. Value -5000 (0xEC78)Default 0Max. Value 5000 (0x1388)Unit 0,1 %Access / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary 407Version: 1.0
3.9.7 6072 Bipolar torque/force limit valueThis object indicates the configured maximum bipolar permissible torque/force in the motor. The value shallbe given per thousand of standstill motor torque/force (0x6076).
Description ValueIndex 0x6072 (Ch A)/ 0x6872 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 5000 (0x1388)Max. Value 5000 (0x1388)Unit 0,1 %Access / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary408 Version: 1.0
3.9.8 6077 Torque/force actual valueThis object shall indicate the configured input value for the torque/force controller. The value shall be givenper thousand of motor standstill torque/force (0x6076) M0.
Description ValueIndex 0x6077 (Ch A)/ 0x6877 (Ch B)Subindex 0x00Datatype INT16Min. ValueDefaultMax. ValueUnit 0,1 %Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 409Version: 1.0
3.9.9 60B2 Torque/force offsetThis object shall provide the offset for the torque/force value. The offset shall be given in per thousand ofmotor standstill torque/force. In cyclic synchronous position mode and cyclic synchronous velocity mode, thisobject contains the input value for an external calculated torque/force feed forward. In cyclic synchronoustorque mode it contains the commanded additive torque/force of the drive, which is added to the targettorque/force value.
Description ValueIndex 0x60B2 (Ch A)/ 0x68B2 (Ch B)Subindex 0x00Datatype INT16Min. Value -1000 (0xFC18)Default 0Max. Value 1000 (0x03E8)Unit 0,1 %Access / EtherCAT-State RoPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary410 Version: 1.0
3.9.10 60E0 Positive torque/force limit valueThis object indicates the configured maximum positive torque/force in the motor. The value shall be givenper thousand of standstill torque/force (0x6076). Positive torque/force takes effect in the case of motiveoperation is positive velocity or regenerative operation is negative velocity.
Description ValueIndex 0x60E0 (Ch A)/ 0x68E0 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 5000 (0x1388)Max. Value 5000 (0x1388)Unit 0,1 %Access / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary 411Version: 1.0
3.9.11 60E1 Negative torque/force limit valueThis object indicates the configured maximum negative torque/force in the motor. The value shall be givenper thousand of standstill torque/force (0x6076). Negative torque/force takes effect in the case of motiveoperation is negative velocity or regenerative operation is positive velocity.
Description ValueIndex 0x60E1 (Ch A)/ 0x68E1 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 5000 (0x1388)Max. Value 5000 (0x1388)Unit 0,1 %Access / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary412 Version: 1.0
3.9.12 60EA Commutation angleThis object indicates the electrical commutation angle for the space vector modulation.
Description ValueIndex 0x60EA (Ch A)/ 0x68EA (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 0Max. Value 65535 (0xFFFF)Unit x * (360/65536)°Access / EtherCAT-State RwPDO Mapping ReceiveRevision All
Axis modules
AX8000 Object Dictionary 413Version: 1.0
3.10 Objects of module FeedbackHpfDsl
3.10.1 32E0:x [SL] EncoderActualValueDescription ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)
Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 6 (0x06)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.1.1 32E0:01 Position
This object contains the raw position value from the encoder.
Description ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)
Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x01Datatype INT64Min. ValueDefaultMax. ValueUnit incAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.10.1.2 32E0:02 RawPosition
This object contains the raw position value from the encoder.
Description ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)
Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x02Datatype INT64Min. ValueDefaultMax. ValueUnit incAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary414 Version: 1.0
3.10.1.3 32E0:03 MaxPositionEstimatorDeviation
Description ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)
Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.10.1.4 32E0:04 Status
Description ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)
Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x04Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.10.1.5 32E0:05 rsvd
Description ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)
Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x05Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 415Version: 1.0
3.10.1.6 32E0:06 Valid
Description ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)
Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x06Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.10.2 32E1:x [SL] Encoder InfoTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 32 (0x20)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.1 32E1:01 Interface
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x01Datatype UINT64Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary416 Version: 1.0
3.10.2.2 32E1:02 IpCore Version
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x02Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.3 32E1:03 EncoderId0
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x03Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.4 32E1:04 EncoderId1
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x04Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 417Version: 1.0
3.10.2.5 32E1:05 EncoderId2
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x05Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.6 32E1:06 Encoder Base Type
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x06Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.7 32E1:07 Encoder Hardware Version
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x07Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary418 Version: 1.0
3.10.2.8 32E1:08 rsvd0
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x08Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.9 32E1:09 Resolution
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x09Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.10 32E1:0A Range
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0ADatatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 419Version: 1.0
3.10.2.11 32E1:0B Base Type Code Name
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0BDatatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.12 32E1:0C Serial Number
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0CDatatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.13 32E1:0D Firmware Revision Number
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0DDatatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary420 Version: 1.0
3.10.2.14 32E1:0E Firmware Date
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0EDatatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.15 32E1:0F Eeprom Size
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0FDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.16 32E1:10 Min Allowed Encoder Temperature
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x10Datatype INT16Min. ValueDefaultMax. ValueUnit 0,1 °CAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 421Version: 1.0
3.10.2.17 32E1:11 Max Allowed Encoder Temperature
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x11Datatype INT16Min. ValueDefaultMax. ValueUnit 0,1 °CAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.18 32E1:12 Max Encoder Speed
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x12Datatype UINT16Min. ValueDefaultMax. ValueUnit rpmAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.19 32E1:13 Position Offset
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x13Datatype UINT64Min. ValueDefaultMax. ValueUnit incAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary422 Version: 1.0
3.10.2.20 32E1:14 Max Application Acc
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x14Datatype REAL32Min. ValueDefaultMax. ValueUnit rad/s^2Access / EtherCAT-State RoPDO MappingRevision All
3.10.2.21 32E1:15 Max Accepted Position Deviation
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x15Datatype REAL32Min. ValueDefaultMax. ValueUnit °Access / EtherCAT-State RoPDO MappingRevision All
3.10.2.22 32E1:16 Max Sync Jitter
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x16Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 423Version: 1.0
3.10.2.23 32E1:17 Encoder Status Mask 0
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x17Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.24 32E1:18 Encoder Status Mask 1
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x18Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.25 32E1:19 Encoder Status Mask 2
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x19Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary424 Version: 1.0
3.10.2.26 32E1:1A Encoder Status Mask 3
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1ADatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.27 32E1:1B Encoder Status Mask 4
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1BDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.28 32E1:1C Encoder Status Mask 5
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1CDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 425Version: 1.0
3.10.2.29 32E1:1D Encoder Status Mask 6
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1DDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.30 32E1:1E Encoder Status Mask 7
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1EDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.2.31 32E1:1F rsvd1
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1FDatatype INT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary426 Version: 1.0
3.10.2.32 32E1:20 rsvd2
Description ValueIndex Primary Feedback: 0x32E1 (Ch A)/ 0x36E1 (Ch B)
Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x20Datatype INT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3 32E2:x [SL] Encoder StatusTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 32 (0x20)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.1 32E2:01 Delay Register
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x01Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 427Version: 1.0
3.10.3.2 32E2:02 Master Quality Monitor
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x02Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.3 32E2:03 SRSSI
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x03Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.4 32E2:04 Edges Register
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x04Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary428 Version: 1.0
3.10.3.5 32E2:05 Summary Register
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x05Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.6 32E2:06 rsvd0
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x06Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.7 32E2:07 Encoder Temperature
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x07Datatype INT16Min. ValueDefaultMax. ValueUnit 0,1 °CAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 429Version: 1.0
3.10.3.8 32E2:08 LED Current
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x08Datatype UINT16Min. ValueDefaultMax. ValueUnit 0,1 AAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.9 32E2:09 Supply Voltage
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x09Datatype UINT16Min. ValueDefaultMax. ValueUnit mVAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.10 32E2:0A Encoder Status 0
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x0ADatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary430 Version: 1.0
3.10.3.11 32E2:0B Encoder Status 1
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x0BDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.12 32E2:0C Encoder Status 2
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x0CDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.13 32E2:0D Encoder Status 3
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x0DDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 431Version: 1.0
3.10.3.14 32E2:0E Encoder Status 4
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x0EDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.15 32E2:0F Encoder Status 5
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x0FDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.16 32E2:10 Encoder Status 6
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x10Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary432 Version: 1.0
3.10.3.17 32E2:11 Encoder Status 7
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x11Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.18 32E2:12 Operation Time
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x12Datatype UINT32Min. ValueDefaultMax. ValueUnit minAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.19 32E2:13 Total Shaft Turns
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x13Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 433Version: 1.0
3.10.3.20 32E2:14 Max Occured Position Deviation
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x14Datatype REAL32Min. ValueDefaultMax. ValueUnit °Access / EtherCAT-State RoPDO MappingRevision All
3.10.3.21 32E2:15 Posistion Deviation Limit Exceeded
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x15Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.22 32E2:16 rsvd1
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x16Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary434 Version: 1.0
3.10.3.23 32E2:17 Total VPOS Errors
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x17Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.24 32E2:18 Total ACC Errors
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x18Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.25 32E2:19 Total VRT Errors
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x19Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 435Version: 1.0
3.10.3.26 32E2:1A Total POS Errors
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x1ADatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.27 32E2:1B Total LINK Errors
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x1BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.28 32E2:1C Total Encoding Errors
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x1CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary436 Version: 1.0
3.10.3.29 32E2:1D rsvd2
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x1DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.30 32E2:1E Temperature Sensor Resistance
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x1EDatatype UINT32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RoPDO MappingRevision All
3.10.3.31 32E2:1F Parameter Channel Read Cycle Counter
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x1FDatatype INT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 437Version: 1.0
3.10.3.32 32E2:20 Parameter Channel Read Error Counter
Description ValueIndex Primary Feedback: 0x32E2 (Ch A)/ 0x36E2 (Ch B)
Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x20Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.4 32E3:x [SL] Encoder Temperature SensorsTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E3 (Ch A)/ 0x36E3 (Ch B)
Secondary Feedback: 0x3303 (Ch A)/ 0x3703 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary438 Version: 1.0
3.10.4.1 32E3:01 Encoder Connected Sensor Data State
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E3 (Ch A)/ 0x36E3 (Ch B)
Secondary Feedback: 0x3303 (Ch A)/ 0x3703 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault eDataState_Idle (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description2 (0x02) eDataState_Error1 (0x01) eDataState_Valid0 (0x00) eDataState_Idle
3.10.4.2 32E3:02 Encoder Connected Sensor Resistance
Description ValueIndex Primary Feedback: 0x32E3 (Ch A)/ 0x36E3 (Ch B)
Secondary Feedback: 0x3303 (Ch A)/ 0x3703 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RoPDO MappingRevision All
3.10.4.3 32E3:03 Drive Connected Sensor Data State
Description ValueIndex Primary Feedback: 0x32E3 (Ch A)/ 0x36E3 (Ch B)
Secondary Feedback: 0x3303 (Ch A)/ 0x3703 (Ch B)Subindex 0x03Datatype ENUM (INT16)Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 439Version: 1.0
Enum Value Description2 (0x02) eDataState_Error1 (0x01) eDataState_Valid0 (0x00) eDataState_Idle
3.10.4.4 32E3:04 Drive Connected Sensor Resistance
Description ValueIndex Primary Feedback: 0x32E3 (Ch A)/ 0x36E3 (Ch B)
Secondary Feedback: 0x3303 (Ch A)/ 0x3703 (Ch B)Subindex 0x04Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary440 Version: 1.0
3.10.5 32E4:x [SL] Encoder File Electronic Data SheetDescription ValueIndex Primary Feedback: 0x32E4 (Ch A)/ 0x36E4 (Ch B)
Secondary Feedback: 0x3304 (Ch A)/ 0x3704 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.5.1 32E4:01 Data State
Description ValueIndex Primary Feedback: 0x32E4 (Ch A)/ 0x36E4 (Ch B)
Secondary Feedback: 0x3304 (Ch A)/ 0x3704 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault eFileDataState_Invalid (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description1 (0x01) eFileDataState_Valid0 (0x00) eFileDataState_Invalid
3.10.5.2 32E4:02 Electronic Data Sheet
Description ValueIndex Primary Feedback: 0x32E4 (Ch A)/ 0x36E4 (Ch B)
Secondary Feedback: 0x3304 (Ch A)/ 0x3704 (Ch B)Subindex 0x02Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 441Version: 1.0
3.10.6 32E5:x [SL] Encoder File Position OffsetTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E5 (Ch A)/ 0x36E5 (Ch B)
Secondary Feedback: 0x3305 (Ch A)/ 0x3705 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.6.1 32E5:01 Data State
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E5 (Ch A)/ 0x36E5 (Ch B)
Secondary Feedback: 0x3305 (Ch A)/ 0x3705 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault eFileDataState_Invalid (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description1 (0x01) eFileDataState_Valid0 (0x00) eFileDataState_Invalid
Axis modules
AX8000 Object Dictionary442 Version: 1.0
3.10.6.2 32E5:02 Position Offset
Description ValueIndex Primary Feedback: 0x32E5 (Ch A)/ 0x36E5 (Ch B)
Secondary Feedback: 0x3305 (Ch A)/ 0x3705 (Ch B)Subindex 0x02Datatype INT64Min. ValueDefaultMax. ValueUnit incAccess / EtherCAT-State RoPDO MappingRevision All
3.10.7 32E6:x [SL] Encoder File User DataTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E6 (Ch A)/ 0x36E6 (Ch B)
Secondary Feedback: 0x3306 (Ch A)/ 0x3706 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 443Version: 1.0
3.10.7.1 32E6:01 Data State
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E6 (Ch A)/ 0x36E6 (Ch B)
Secondary Feedback: 0x3306 (Ch A)/ 0x3706 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault eFileDataState_Invalid (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description1 (0x01) eFileDataState_Valid0 (0x00) eFileDataState_Invalid
3.10.7.2 32E6:02 User Data
Description ValueIndex Primary Feedback: 0x32E6 (Ch A)/ 0x36E6 (Ch B)
Secondary Feedback: 0x3306 (Ch A)/ 0x3706 (Ch B)Subindex 0x02Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary444 Version: 1.0
3.10.8 32E7:x [SL] Encoder File Commutation OffsetTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E7 (Ch A)/ 0x36E7 (Ch B)
Secondary Feedback: 0x3307 (Ch A)/ 0x3707 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.8.1 32E7:01 Data State
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E7 (Ch A)/ 0x36E7 (Ch B)
Secondary Feedback: 0x3307 (Ch A)/ 0x3707 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault eFileDataState_Invalid (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description1 (0x01) eFileDataState_Valid0 (0x00) eFileDataState_Invalid
Axis modules
AX8000 Object Dictionary 445Version: 1.0
3.10.8.2 32E7:02 Commutation Offset
Description ValueIndex Primary Feedback: 0x32E7 (Ch A)/ 0x36E7 (Ch B)
Secondary Feedback: 0x3307 (Ch A)/ 0x3707 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnit m°Access / EtherCAT-State RoPDO MappingRevision All
3.10.9 32E8:x [SL] Encoder Direct AccessTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E8 (Ch A)/ 0x36E8 (Ch B)
Secondary Feedback: 0x3308 (Ch A)/ 0x3708 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.9.1 32E8:01 Command
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32E8 (Ch A)/ 0x36E8 (Ch B)
Secondary Feedback: 0x3308 (Ch A)/ 0x3708 (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary446 Version: 1.0
3.10.9.2 32E8:02 Status
Description ValueIndex Primary Feedback: 0x32E8 (Ch A)/ 0x36E8 (Ch B)
Secondary Feedback: 0x3308 (Ch A)/ 0x3708 (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description255 (0xFF) eCoeCmdStatus_CmdIsExecuting3 (0x03) eCoeCmdStatus_CmdCompletedErrorRespDataAvailable2 (0x02) eCoeCmdStatus_CmdCompletedErrorNoRespData1 (0x01) eCoeCmdStatus_CmdCompletedNoErrorRespDataAvailable0 (0x00) eCoeCmdStatus_CmdCompletedNoErrorNoRespData
3.10.9.3 32E8:03 Response
Description ValueIndex Primary Feedback: 0x32E8 (Ch A)/ 0x36E8 (Ch B)
Secondary Feedback: 0x3308 (Ch A)/ 0x3708 (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 447Version: 1.0
3.10.10 32EA:x [SL] Encoder Save File User DataTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32EA (Ch A)/ 0x36EA (Ch B)
Secondary Feedback: 0x330A (Ch A)/ 0x370A (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.10.1 32EA:01 Command
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32EA (Ch A)/ 0x36EA (Ch B)
Secondary Feedback: 0x330A (Ch A)/ 0x370A (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.10.10.2 32EA:02 Status
Description ValueIndex Primary Feedback: 0x32EA (Ch A)/ 0x36EA (Ch B)
Secondary Feedback: 0x330A (Ch A)/ 0x370A (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description255 (0xFF) eCoeCmdStatus_CmdIsExecuting
Axis modules
AX8000 Object Dictionary448 Version: 1.0
Enum Value Description3 (0x03) eCoeCmdStatus_CmdCompletedErrorRespDataAvailable2 (0x02) eCoeCmdStatus_CmdCompletedErrorNoRespData1 (0x01) eCoeCmdStatus_CmdCompletedNoErrorRespDataAvailable0 (0x00) eCoeCmdStatus_CmdCompletedNoErrorNoRespData
3.10.10.3 32EA:03 Response
Description ValueIndex Primary Feedback: 0x32EA (Ch A)/ 0x36EA (Ch B)
Secondary Feedback: 0x330A (Ch A)/ 0x370A (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 449Version: 1.0
3.10.11 32EB:x [SL] Encoder Save File Commutation OffsetTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32EB (Ch A)/ 0x36EB (Ch B)
Secondary Feedback: 0x330B (Ch A)/ 0x370B (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.11.1 32EB:01 Command
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32EB (Ch A)/ 0x36EB (Ch B)
Secondary Feedback: 0x330B (Ch A)/ 0x370B (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.10.11.2 32EB:02 Status
Description ValueIndex Primary Feedback: 0x32EB (Ch A)/ 0x36EB (Ch B)
Secondary Feedback: 0x330B (Ch A)/ 0x370B (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description255 (0xFF) eCoeCmdStatus_CmdIsExecuting
Axis modules
AX8000 Object Dictionary450 Version: 1.0
Enum Value Description3 (0x03) eCoeCmdStatus_CmdCompletedErrorRespDataAvailable2 (0x02) eCoeCmdStatus_CmdCompletedErrorNoRespData1 (0x01) eCoeCmdStatus_CmdCompletedNoErrorRespDataAvailable0 (0x00) eCoeCmdStatus_CmdCompletedNoErrorNoRespData
3.10.11.3 32EB:03 Response
Description ValueIndex Primary Feedback: 0x32EB (Ch A)/ 0x36EB (Ch B)
Secondary Feedback: 0x330B (Ch A)/ 0x370B (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 451Version: 1.0
3.10.12 32EC:x [SL] Scan Connected EncoderTODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32EC (Ch A)/ 0x36EC (Ch B)
Secondary Feedback: 0x330C (Ch A)/ 0x370C (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.10.12.1 32EC:01 Command
TODO:AddSomeInformationHere
Description ValueIndex Primary Feedback: 0x32EC (Ch A)/ 0x36EC (Ch B)
Secondary Feedback: 0x330C (Ch A)/ 0x370C (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.10.12.2 32EC:02 Status
Description ValueIndex Primary Feedback: 0x32EC (Ch A)/ 0x36EC (Ch B)
Secondary Feedback: 0x330C (Ch A)/ 0x370C (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Enum Value Description255 (0xFF) eCoeCmdStatus_CmdIsExecuting
Axis modules
AX8000 Object Dictionary452 Version: 1.0
Enum Value Description3 (0x03) eCoeCmdStatus_CmdCompletedErrorRespDataAvailable2 (0x02) eCoeCmdStatus_CmdCompletedErrorNoRespData1 (0x01) eCoeCmdStatus_CmdCompletedNoErrorRespDataAvailable0 (0x00) eCoeCmdStatus_CmdCompletedNoErrorNoRespData
3.10.12.3 32EC:03 Response
Description ValueIndex Primary Feedback: 0x32EC (Ch A)/ 0x36EC (Ch B)
Secondary Feedback: 0x330C (Ch A)/ 0x370C (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 453Version: 1.0
3.11 Objects of module SyncServoMotor
3.11.1 32C0:x Motor parametersThis object contains parameters to configure the connected motor.
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 16 (0x10)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.11.1.1 32C0:01 Configured motor type
This object indicates the configured motor type.
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x01Datatype VISIBLE_STRINGMin. ValueDefault not setMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.2 32C0:02 Pole pairs
This object indicates the motor pole pairs.
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x02Datatype UINT16Min. Value 0Default 0Max. Value 255 (0x00FF)UnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary454 Version: 1.0
3.11.1.3 32C0:03 Motor peak current
This object configures the motor peak current. If the electronic datasheet of the motor is available take "Peakcurrent".
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. Value 8000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.4 32C0:04 Motor nominal voltage
This object configures the motor nominal voltage. If the electronic datasheet is available take "Nominalvoltage" according to the selected mains voltage.
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x04Datatype REAL32Min. Value 0.0Default 0.0Max. Value 900.0Unit VAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.5 32C0:05 Motor max voltage
This object configures the motor max voltage. If the electronic datasheet is available take "Max voltage".
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x05Datatype REAL32Min. Value 0.0Default 0.0Max. Value 1200.0Unit VAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 455Version: 1.0
3.11.1.6 32C0:06 Winding resistance R
This object configures the winding resistance R (phase to phase at 20°C). If the electronic datasheet isavailable take "Winding resistance Ph-Ph 20°C".
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x06Datatype REAL32Min. Value 0.0Default 0.0Max. Value 250.0Unit OhmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.7 32C0:07 Winding inductance Ld
This object configures the direct axis winding inductance Ld (phase to phase). If the electronic datasheet isavailable take "Ld Ph-Ph".
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x07Datatype REAL32Min. Value 0.0Default 0.0Max. Value 255.0Unit HAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.8 32C0:08 Winding inductance Lq
This object configures the direct winding inductance Lq. If the electronic datasheet is available take "Lq Ph-Ph".
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x08Datatype REAL32Min. Value 0.0Default 0.0Max. Value 255.0Unit HAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary456 Version: 1.0
3.11.1.9 32C0:09 Motor warning temperature
This object configures the motor temperature warning theshold. If the electronic datasheet is available take"T motor warn limit".
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x09Datatype REAL32Min. Value 40.0Default 80.0Max. Value 150.0Unit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.10 32C0:0A Motor shut down temperature
This object configures the motor temperature error threshold. If the electronic datasheet is available take "Tmotor err limit".
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0ADatatype REAL32Min. Value 50.0Default 100.0Max. Value 150.0Unit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.11 32C0:0B Motor moment of inertia
This object configures the inertia of rotor including brake and encoder. If the electronic datasheet is availabletake "J motor with brake".
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0BDatatype REAL32Min. Value 0.0Default 0.0Max. Value 255.0Unit kg m^2Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 457Version: 1.0
3.11.1.12 32C0:0C Motor rated speed
This object indicates the motor calculated speed. Its calculated from the motor parameters.
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0CDatatype REAL32Min. Value 0.0Default 0.0Max. Value 200000.0Unit rpmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.13 32C0:0D Motor rated torque
This object configures the motor rated torque at rated speed. If the electronic datasheet is available take"Rated torque" according to the selected mains voltage.
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0DDatatype REAL32Min. Value 0.0Default 0.0Max. Value 255.0Unit NmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.1.14 32C0:0E Commutation offset
This object configures the motor commutation offset. Beckhoff motors use the default value (0°).
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0EDatatype UINT16Min. Value 0Default 0Max. Value 65535 (0xFFFF)Unit x * (360/65536)°Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary458 Version: 1.0
3.11.1.15 32C0:0F Motor temperature sensor connection
This object configures the motor temperature sensor type.
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0FDatatype ENUM (INT16)Min. ValueDefault No_motor_temperature_switch_or_sensor (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description1 (0x01) Via_feedback_process_data_and_characteristic_table0 (0x00) No_motor_temperature_switch_or_sensor
3.11.1.16 32C0:10 Motor max voltage slope
This object configures the motor maximum winding voltage slope. If the electronic datasheet is available take"Max winding du/dt" according to the selected mains voltage.
Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x10Datatype REAL32Min. Value 0.0Default 0.0Max. ValueUnit V/sAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 459Version: 1.0
3.11.2 32C1:x SyncServoMotor actual valuesThis object contains actual values from the module SyncServoMotor.
Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 6 (0x06)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.11.2.1 32C1:01 Actual motor I2T current limit
This object is to monitor the thermal motor I2T model current limitation. If the estimated I2T value exceeds thethreshold value the current will be limited to motor I0 (0x6075).
Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.11.2.2 32C1:02 Thermal motor utilization
This object is to indicate the actual motor utilization.
Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnit %Access / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary460 Version: 1.0
3.11.2.3 32C1:03 Estimated motor copper losses
Internal value for estimated motor copper losses.
Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.11.2.4 32C1:04 Estimated motor iron losses
Internal value for estimated motor iron losses.
Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.11.2.5 32C1:05 Motor I2T limitation active
This internal state indicates a current reduction due to the thermal motor model.
Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x05Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary 461Version: 1.0
3.11.2.6 32C1:06 Actual motor temperature
This object provides the measured motor winding temperature. It is usually acquired via the motor internaltemperature sensor.
Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary462 Version: 1.0
3.11.3 32C2:x Motor torque characteristicThis object describes the motor torque characteristic of a cold (40°C) motor. The torque as a function ofcurrent curve is approximated by a third order polynomial. Three pairs of values are required. Standstillcurrent and torque, peak current and torque and a pair of values between standstill and peak. The valuescan be read from the motor electronic datasheet (XEDS file).
Description ValueIndex Motor: 0x32C2 (Ch A)/ 0x36C2 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 6 (0x06)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.11.3.1 32C2:01 Current 1
A current near the motor standstill current should be parameterized here. This current can be read from theelectronic datasheet of the motor, if available (2nd current).
Description ValueIndex Motor: 0x32C2 (Ch A)/ 0x36C2 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 1.0Max. Value 10000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All
3.11.3.2 32C2:02 Current 2
A current between standstill and peak current should be parameterized here. This current can be read fromthe electronic datasheet of the motor, if available (5th current).
Description ValueIndex Motor: 0x32C2 (Ch A)/ 0x36C2 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 5.0Max. Value 10000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 463Version: 1.0
3.11.3.3 32C2:03 Current 3
The peak current of the motor should be parameterized here. This current can be read from the electronicdatasheet of the motor, if available (10th current).
Description ValueIndex Motor: 0x32C2 (Ch A)/ 0x36C2 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 10.0Max. Value 10000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All
3.11.3.4 32C2:04 Torque 1
A torque near the cold motor standstill torque should be parameterized here. This torque can be read fromthe electronic datasheet of the motor, if available (2nd torque).
Description ValueIndex Motor: 0x32C2 (Ch A)/ 0x36C2 (Ch B)Subindex 0x04Datatype REAL32Min. Value 0.0Default 1.0Max. Value 10000.0Unit NmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.3.5 32C2:05 Torque 2
A torque between standstill and peak should be parameterized here. This torque can be read from theelectronic datasheet of the motor, if available (5th torque).
Description ValueIndex Motor: 0x32C2 (Ch A)/ 0x36C2 (Ch B)Subindex 0x05Datatype REAL32Min. Value 0.0Default 5.0Max. Value 10000.0Unit NmAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary464 Version: 1.0
3.11.3.6 32C2:06 Torque 3
The torque at peak current of the cold motor should be parameterized here. This torque can be read from theelectronic datasheet of the motor, if available (10th torque).
Description ValueIndex Motor: 0x32C2 (Ch A)/ 0x36C2 (Ch B)Subindex 0x06Datatype REAL32Min. Value 0.0Default 10.0Max. Value 10000.0Unit NmAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 465Version: 1.0
3.11.4 32C6:x Motor commutation monitoring parametersThis object contains parameters to configure the Motor commutation monitoring
Description ValueIndex Motor: 0x32C6 (Ch A)/ 0x36C6 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.11.4.1 32C6:01 Speed threshold
The minimum speed for detecting a commutation error is 'Max motor speed' (0x6080) multiplied by 'Speedthreshold'
Description ValueIndex Motor: 0x32C6 (Ch A)/ 0x36C6 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.1Max. Value 1.0UnitAccess / EtherCAT-State RwPDO MappingRevision All
3.11.4.2 32C6:02 Voltage threshold
The BEMF level for detecting a commutation error is 'Motor nominal voltage' (0x42C0:03) multiplied by'Voltage threshold'
Description ValueIndex Motor: 0x32C6 (Ch A)/ 0x36C6 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.1Max. Value 2.0UnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary466 Version: 1.0
3.11.5 32C7:x Motor temperature sensor characteristicThis object describes the R(T) curve of the motor winding temperature sensor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 20 (0x14)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.11.5.1 32C7:01 Temperature 0
Temperature sampling point 1 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.2 32C7:02 Temperature 1
Temperature sampling point 2 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 467Version: 1.0
3.11.5.3 32C7:03 Temperature 2
Temperature sampling point 3 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.4 32C7:04 Temperature 3
Temperature sampling point 4 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.5 32C7:05 Temperature 4
Temperature sampling point 5 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary468 Version: 1.0
3.11.5.6 32C7:06 Temperature 5
Temperature sampling point 6 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.7 32C7:07 Temperature 6
Temperature sampling point 7 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x07Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.8 32C7:08 Temperature 7
Temperature sampling point 8 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x08Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 469Version: 1.0
3.11.5.9 32C7:09 Temperature 8
Temperature sampling point 9 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x09Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.10 32C7:0A Temperature 9
Temperature sampling point 10 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0ADatatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.11 32C7:0B Resistance 0
Resistance sampling point 1 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0BDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary470 Version: 1.0
3.11.5.12 32C7:0C Resistance 1
Resistance sampling point 2 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0CDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.13 32C7:0D Resistance 2
Resistance sampling point 3 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0DDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.14 32C7:0E Resistance 3
Resistance sampling point 4 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0EDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 471Version: 1.0
3.11.5.15 32C7:0F Resistance 4
Resistance sampling point 5 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0FDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.16 32C7:10 Resistance 5
Resistance sampling point 6 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x10Datatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.17 32C7:11 Resistance 6
Resistance sampling point 7 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x11Datatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary472 Version: 1.0
3.11.5.18 32C7:12 Resistance 7
Resistance sampling point 8 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x12Datatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.19 32C7:13 Resistance 8
Resistance sampling point 9 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x13Datatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
3.11.5.20 32C7:14 Resistance 9
Resistance sampling point 10 of the R(T) curve of the motor.
Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x14Datatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 473Version: 1.0
3.11.6 32C8:x Motor thermal modelThese objects configure the motor thermal model.
Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 6 (0x06)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.11.6.1 32C8:01 Motor thermal time constant
This object configures the time constant for the whole motor. If an electronic datasheet is available take"Motor thermal constant" and scale it to seconds.
Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 540.0Max. Value 200000.0Unit sAccess / EtherCAT-State RwPDO MappingRevision All
3.11.6.2 32C8:02 Winding thermal time constant
This object configures the time constant of the copper winding only. If an electronic datasheet is availabletake "Time constant i2T".
Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 20.0Max. Value 3600.0Unit sAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary474 Version: 1.0
3.11.6.3 32C8:03 Warning limit
This object shall configure the thermal motor utilization warning limit.
Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x03Datatype REAL32Min. Value 40.0Default 80.0Max. Value 150.0Unit %Access / EtherCAT-State RwPDO MappingRevision All
3.11.6.4 32C8:04 Error limit
This object shall configure the thermal motor utilization error limit.
Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x04Datatype REAL32Min. Value 50.0Default 100.0Max. Value 150.0Unit %Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 475Version: 1.0
3.11.6.5 32C8:05 Reaction
This object configures the reaction in case reaching the thermal motor utilization error limit.
Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x05Datatype ENUM (INT16)Min. ValueDefault No_Reaction (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Enum Value Description2 (0x02) Reduction1 (0x01) Shut_down_on_error_level0 (0x00) No_Reaction
3.11.6.6 32C8:06 Partial fraction factor
This object describes the thermal resistor fraction factor of the motor.
Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x06Datatype REAL32Min. Value 0.0Default 25.0Max. Value 100.0Unit %Access / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary476 Version: 1.0
3.11.7 6075 Motor standstill currentThis object indicates the motor standstill current (I0). If an electronic dataheet is available "Standstill current"will be read and scaled to mA.
Description ValueIndex 0x6075 (Ch A)/ 0x6875 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 0Max. Value 4294967295 (0xFFFFFFFF)Unit mAAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 477Version: 1.0
3.11.8 6076 Motor standstill torqueThis object indicates the motor standstill torque (M0)/force (Fc). If an electronic datasheet of the motor isavailable "Standstill current" (I0) will be multiplied by the torque constant (Kt)/(Kf). The value is scaled tomNm/mN.
Description ValueIndex 0x6076 (Ch A)/ 0x6876 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 0Max. Value 4294967295 (0xFFFFFFFF)Unit mNmAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary478 Version: 1.0
3.11.9 6080 Max motor speedThis object shall indicate the configured maximal allowed speed for the motor in either direction. It is used toprotect the motor and is taken from the motor data sheet.
Description ValueIndex 0x6080 (Ch A)/ 0x6880 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 3000 (0x00000BB8)Max. Value 50000 (0x0000C350)Unit rpmAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 479Version: 1.0
3.12 Objects of module AxisDebug
3.12.1 33E1:x Memory000internal use only
Description ValueIndex AxisDebugSlot: 0x33E1 (Ch A)/ 0x37E1 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary480 Version: 1.0
3.12.2 33E2:x Memory400internal use only
Description ValueIndex AxisDebugSlot: 0x33E2 (Ch A)/ 0x37E2 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 481Version: 1.0
3.12.3 33E3:x Memory800internal use only
Description ValueIndex AxisDebugSlot: 0x33E3 (Ch A)/ 0x37E3 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary482 Version: 1.0
3.12.4 33E4:x MemoryC00internal use only
Description ValueIndex AxisDebugSlot: 0x33E4 (Ch A)/ 0x37E4 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 483Version: 1.0
3.12.5 33E5:x DebugIninternal use only
Description ValueIndex AxisDebugSlot: 0x33E5 (Ch A)/ 0x37E5 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 5 (0x05)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.12.5.1 33E5:02 InDebugf1
Description ValueIndex AxisDebugSlot: 0x33E5 (Ch A)/ 0x37E5 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.12.5.2 33E5:03 InDebugf2
Description ValueIndex AxisDebugSlot: 0x33E5 (Ch A)/ 0x37E5 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary484 Version: 1.0
3.12.5.3 33E5:04 InDebugf3
Description ValueIndex AxisDebugSlot: 0x33E5 (Ch A)/ 0x37E5 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
3.12.5.4 33E5:05 InDebugf4
Description ValueIndex AxisDebugSlot: 0x33E5 (Ch A)/ 0x37E5 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All
Axis modules
AX8000 Object Dictionary 485Version: 1.0
3.12.6 33E6:x DebugOutinternal use only
Description ValueIndex AxisDebugSlot: 0x33E6 (Ch A)/ 0x37E6 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 5 (0x05)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All
3.12.6.1 33E6:02 OutDebug1
Description ValueIndex AxisDebugSlot: 0x33E6 (Ch A)/ 0x37E6 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.12.6.2 33E6:03 OutDebug2
Description ValueIndex AxisDebugSlot: 0x33E6 (Ch A)/ 0x37E6 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Axis modules
AX8000 Object Dictionary486 Version: 1.0
3.12.6.3 33E6:04 OutDebug3
Description ValueIndex AxisDebugSlot: 0x33E6 (Ch A)/ 0x37E6 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
3.12.6.4 33E6:05 OutDebug4
Description ValueIndex AxisDebugSlot: 0x33E6 (Ch A)/ 0x37E6 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All
Support and Service
AX8000 Object Dictionary 487Version: 1.0
4 Support and ServiceBeckhoff and their partners around the world offer comprehensive support and service, making available fastand competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoffproducts!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internetpages:http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 2033415 VerlGermany
Phone: +49(0)5246/963-0Fax: +49(0)5246/963-198e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application ofindividual Beckhoff products, but also with other, wide-ranging services:
• support• design, programming and commissioning of complex automation systems• and extensive training program for Beckhoff system components
Hotline: +49(0)5246/963-157Fax: +49(0)5246/963-9157e-mail: support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service• repair service• spare parts service• hotline service
Hotline: +49(0)5246/963-460Fax: +49(0)5246/963-479e-mail: service@beckhoff.com
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