#x0048504D HPMicro 424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9 ECAT_Device ECAT_Device 424DD8020000000000003600000028000000100000000E0000000100180000000000A2020000120B0000120B000000000000000000001306E31306E3190CE42B1FE62B1FE61306E31F13E5190CE42519E51306E31306E3190CE42F24E7190CE41306E31306E31306E31306E35F56EC645CED645CED4137E91F13E5473DE95F57EC3227E71306E3473DE95A51EC271BE61306E31306E31409CA524CC68E8AD74F48C1615CC82218D03E36BF716BCE746FCE453DC01307CE3931BA7D78D27671D1150CB21409CA1712801B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D1712801712807F8080D4D5D5D4D5D5383939120B89545656D4D5D5D4D5D5626464130C89292B2BD4D5D5D4D5D56264641915801712804647471B1D1DAAAAAAD4D5D5130E82383939292B2B717272D4D5D5151183D4D5D57F80801B1D1D7172721E1C81191580464747D4D5D5D4D5D51B1D1D19158A292B2BD4D5D5D4D5D5292B2B1B1B8AD4D5D56264641B1D1D1B1D1D2427821E1D81D4D5D54647476264643839391E208BD4D5D57F8080464747545656242A8BD4D5D59B9C9C292B2BAAAAAA2D3683252882464747D4D5D5D4D5D51B1D1D272D85292B2BD4D5D5D4D5D5292B2B2E37861B1D1DD4D5D5D4D5D5464747394484323BB52324812122822426822526824554C0323883292B822A2D83353C84424CBF3238843940842E32834853865D6EBB5262EB3E43E83334E74147E94349E9535FEB4D56EA5662EB484DEA545DEB636FED545AEA5A63EC6671ED8CA0F290A5F2748AEF6B7BEE5D68EC6874ED788AEF8397F17684EF7986EF8C9FF2818FF1818EF08E9DF18A97F18791F19BA9F3B0C0F691A4F291A2F28390F192A1F29CACF3A3B3F498A6F3A4B3F4AEBDF5B0BEF59EA8F3A3ADF4BBC7F7C4D1F8CAD7F8CED9F9B4C4F6B8C8F6ACB8F59AA3F3B6C1F6C5D2F8C2CDF8CCD7F9D2DDF9D5E0FAD2DAF9D5DCF9DFE7FBE2E9FBE5EBFBE8EEFB0000 ECAT_CIA402 ECAT_CIA402 2000 9000 5000 200 100 2000 61440 8 8 true ECAT_Device 402 2 402 0 STRING(3) 24 STRING(11) 88 USINT 8 UDINT 32 UINT 16 ULINT 64 BOOL 1 DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 ro 2 Sync Error Counter Limit UINT 16 48 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 32 1 2 DT1C12 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 32 16 rw DT1C13ARR UINT 32 1 2 DT1C13 48 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 32 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 13 Shift Time Too Short Counter UINT 16 320 ro 32 Sync Error BOOL 1 480 ro DTF000 48 0 SubIndex 000 USINT 8 0 ro 1 Index distance UINT 16 16 ro 2 Maximum number of modules UINT 16 32 ro DTF010ARR UDINT 64 1 2 DTF010 80 0 SubIndex 000 USINT 8 0 ro Elements DTF010ARR 64 16 ro DTF030ARR UDINT 64 1 2 DTF030 80 0 SubIndex 000 USINT 8 0 rw Elements DTF030ARR 64 16 rw DTF050ARR UDINT 64 1 2 DTF050 80 0 SubIndex 000 USINT 8 0 ro Elements DTF050ARR 64 16 ro #x1000 Device type UDINT 32 92010000 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(11) 88 454341545F434941343032 ro #x1009 Manufacturer Hardware version STRING(11) 88 454341545F446576696365 ro #x100A Manufacturer Software version STRING(3) 24 312E30 ro #x1018 Identity Object DT1018 144 SubIndex 000 04 Vendor ID 4D504800 Product Code 03000000 Revision Number 01000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x10F8 Timestamp Object ULINT 64 rw t #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 RxPDO assign DT1C12 48 SubIndex 000 00 SubIndex 001 0000 SubIndex 002 0000 #x1C13 TxPDO assign DT1C13 48 SubIndex 000 00 SubIndex 001 0000 SubIndex 002 0000 #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time E0790000 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time E0790000 #xF000 Modular Device Profile DTF000 48 SubIndex 000 02 Index distance 0080 Maximum number of modules 0200 #xF010 Module Profile List DTF010 80 SubIndex 000 02 SubIndex 001 02000000 SubIndex 002 00000000 #xF030 Configured Module Ident List DTF030 80 SubIndex 000 02 SubIndex 001 00983100 SubIndex 002 00000000 00000000 #xF050 Module detected list DTF050 80 SubIndex 000 02 SubIndex 001 00983100 SubIndex 002 00000000 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs Synchron SM-Synchron #x0 DC DC-Synchron #x300 0 0 Axis 0 #x119800 #x219800 #x319800 Axis 1 #x119800 #x219800 #x319800 2048 800C8166000000001234 424DD8020000000000003600000028000000100000000E0000000100180000000000A2020000120B0000120B000000000000000000001306E31306E3190CE42B1FE62B1FE61306E31F13E5190CE42519E51306E31306E3190CE42F24E7190CE41306E31306E31306E31306E35F56EC645CED645CED4137E91F13E5473DE95F57EC3227E71306E3473DE95A51EC271BE61306E31306E31409CA524CC68E8AD74F48C1615CC82218D03E36BF716BCE746FCE453DC01307CE3931BA7D78D27671D1150CB21409CA1712801B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D1712801712807F8080D4D5D5D4D5D5383939120B89545656D4D5D5D4D5D5626464130C89292B2BD4D5D5D4D5D56264641915801712804647471B1D1DAAAAAAD4D5D5130E82383939292B2B717272D4D5D5151183D4D5D57F80801B1D1D7172721E1C81191580464747D4D5D5D4D5D51B1D1D19158A292B2BD4D5D5D4D5D5292B2B1B1B8AD4D5D56264641B1D1D1B1D1D2427821E1D81D4D5D54647476264643839391E208BD4D5D57F8080464747545656242A8BD4D5D59B9C9C292B2BAAAAAA2D3683252882464747D4D5D5D4D5D51B1D1D272D85292B2BD4D5D5D4D5D5292B2B2E37861B1D1DD4D5D5D4D5D5464747394484323BB52324812122822426822526824554C0323883292B822A2D83353C84424CBF3238843940842E32834853865D6EBB5262EB3E43E83334E74147E94349E9535FEB4D56EA5662EB484DEA545DEB636FED545AEA5A63EC6671ED8CA0F290A5F2748AEF6B7BEE5D68EC6874ED788AEF8397F17684EF7986EF8C9FF2818FF1818EF08E9DF18A97F18791F19BA9F3B0C0F691A4F291A2F28390F192A1F29CACF3A3B3F498A6F3A4B3F4AEBDF5B0BEF59EA8F3A3ADF4BBC7F7C4D1F8CAD7F8CED9F9B4C4F6B8C8F6ACB8F59AA3F3B6C1F6C5D2F8C2CDF8CCD7F9D2DDF9D5E0FAD2DAF9D5DCF9DFE7FBE2E9FBE5EBFBE8EEFB0000 csv,csp - axis dynamic switch bewteen csp/csv #x1600 Outputs #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 TargetPosition object 0x607A:0 DINT #x60FF 0 32 TargetVelocity object 0x60FF:0 DINT #x6060 0 8 ModeOfOperation object 0x6060:0 USINT 0 0 8 #x1a00 Inputs #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x606C 0 32 ActualVelocity object 0x606C:0 DINT #x6061 0 8 ModeOfOperationDisplay object 0x6061:0 USINT 0 0 8 402 2 SINT 8 USINT 8 UDINT 32 DINT 32 INT 16 UINT 16 DT607DARR DINT 64 1 2 DT607D 80 0 SubIndex 000 USINT 8 0 ro Elements DT607DARR 64 16 rw r DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation time period value USINT 8 16 rw r 2 Interpolation time index SINT 8 24 rw r #x603F Error Code UINT 16 ro t #x6040 Control Word UINT 16 rw r #x6041 Status Word UINT 16 ro t #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw r #x6061 Modes of operation display SINT 8 ro t #x6064 Position actual value DINT 32 ro t #x606C Velocity actual value DINT 32 ro t #x6077 Torque actual value INT 16 ro t #x607D Software position limit DT607D 80 #x607A Target position DINT 32 rw r #x6085 Quick stop deceleration UDINT 32 rw r #x60C2 Interpolation time period DT60C2 32 #x60FF Target velocity DINT 32 rw r #x6502 Supported drive modes UDINT 32 ro t csp - axis csp #x1601 Outputs #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 TargetPosition object 0x607A:0 DINT #x0 0 16 16bit padding #x1a01 Inputs #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x0 0 16 16bit padding SO #x6060 0 08 402 2 SINT 8 USINT 8 UDINT 32 DINT 32 INT 16 UINT 16 DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation time period value USINT 8 16 rw r 2 Interpolation time index SINT 8 24 rw r DT607DARR DINT 64 1 2 DT607D 80 0 SubIndex 000 USINT 8 0 ro Elements DT607DARR 64 16 rw r #x603F Error Code UINT 16 ro t #x6040 Control Word UINT 16 rw r #x6041 Status Word UINT 16 ro t #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw r #x6061 Modes of operation display SINT 8 ro t #x6064 Position actual value DINT 32 ro t #x606C Velocity actual value DINT 32 ro t #x6077 Torque actual value INT 16 ro t #x607D Software position limit DT607D 80 #x607A Target position DINT 32 rw r #x6085 Quick stop deceleration UDINT 32 rw r #x60C2 Interpolation time period DT60C2 32 #x60FF Target velocity DINT 32 rw r #x6502 Supported drive modes UDINT 32 ro t csv - axis csv #x1602 Outputs #x6040 0 16 Control Word object 0x6040:0 UINT #x60FF 0 32 TargetVelocity object 0x60FF:0 DINT #x0 0 16 16bit padding #x1a02 Inputs #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 ActualPosition object 0x6064:0 DINT #x0 0 16 16bit padding SO #x6060 0 09 402 2 SINT 8 USINT 8 UDINT 32 DINT 32 INT 16 UINT 16 DT607DARR DINT 64 1 2 DT607D 80 0 SubIndex 000 USINT 8 0 ro Elements DT607DARR 64 16 rw r DT60C2 32 0 SubIndex 000 USINT 8 0 ro 1 Interpolation time period value USINT 8 16 rw r 2 Interpolation time index SINT 8 24 rw r #x603F Error Code UINT 16 ro t #x6040 Control Word UINT 16 rw r #x6041 Status Word UINT 16 ro t #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw r #x6061 Modes of operation display SINT 8 ro t #x6064 Position actual value DINT 32 ro t #x606C Velocity actual value DINT 32 ro t #x6077 Torque actual value INT 16 ro t #x607D Software position limit DT607D 80 #x607A Target position DINT 32 rw r #x6085 Quick stop deceleration UDINT 32 rw r #x60C2 Interpolation time period DT60C2 32 #x60FF Target velocity DINT 32 rw r #x6502 Supported drive modes UDINT 32 ro t