#x089A Neuromeka Drive Drive Device NRMK Drive NRMK Drive 2000 9000 5000 200 100 2000 Drive 402 2 STRING(11) 88 STRING(4) 32 BYTE 8 BOOL 1 SINT 8 INT 16 DINT 32 USINT 8 UINT 16 UDINT 32 BIT1 1 BIT2 2 BIT3 3 BIT4 4 BIT5 5 BIT6 6 BIT7 7 DT1018 144 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Vendor-ID UDINT 32 16 ro o 0 0 2 Product code UDINT 32 48 ro o 0 0 3 Revision number UDINT 32 80 ro o 0 0 4 Serial number UDINT 32 112 ro o 0 0 DT10f1 64 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Local Error Reaction UDINT 32 16 rw o 0 0 2 Sync Error Counter Limit UINT 16 48 rw o 0 0 DT1600 176 0 SubIndex 000 USINT 8 0 rw o 0 0 1 Control Word UDINT 32 16 rw o 0 0 2 Target Position UDINT 32 48 rw o 0 0 3 Target Velocity UDINT 32 80 rw o 0 0 4 Target Torque UDINT 32 112 rw o 0 0 5 Mode Of Operation UDINT 32 144 rw o 0 0 DT1601 80 0 SubIndex 000 USINT 8 0 rw o 0 0 1 Control Word UDINT 32 16 rw o 0 0 2 Target Position UDINT 32 48 rw o 0 0 DT1602 80 0 SubIndex 000 USINT 8 0 rw o 0 0 1 Control Word UDINT 32 16 rw o 0 0 2 Mapping Entry 2 UDINT 32 48 rw o 0 0 DT1a00 176 0 SubIndex 000 USINT 8 0 rw o 0 0 1 Status Word UDINT 32 16 rw o 0 0 2 Position Actual Value UDINT 32 48 rw o 0 0 3 Velocity Actual Value UDINT 32 80 rw o 0 0 4 Torque Actual Value UDINT 32 112 rw o 0 0 5 Mode Of Operation Display UDINT 32 144 rw o 0 0 DT1a01 80 0 SubIndex 000 USINT 8 0 rw o 0 0 1 Status Word UDINT 32 16 rw o 0 0 2 Position Actual Value UDINT 32 48 rw o 0 0 DT1a02 80 0 SubIndex 000 USINT 8 0 rw o 0 0 1 Status Word UDINT 32 16 rw o 0 0 2 Mapping Entry 2 UDINT 32 48 rw o 0 0 DT1c00 48 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT1c00ARR 32 16 ro o 0 0 DT1c00ARR USINT 32 1 4 DT1c12 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT1c12ARR 16 16 ro o 0 0 DT1c12ARR UINT 16 1 1 DT1c13 32 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT1c13ARR 16 16 ro o 0 0 DT1c13ARR UINT 16 1 1 DT1c32 488 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Synchronization Type UINT 16 16 rw o 0 0 2 Cycle Time UDINT 32 32 ro o 0 0 4 Synchronization Types supported UINT 16 96 ro o 0 0 5 Minimum Cycle Time UDINT 32 112 ro o 0 0 6 Calc and Copy Time UDINT 32 144 ro o 0 0 8 Get Cycle Time UINT 16 208 rw o 0 0 9 Delay Time UDINT 32 224 ro o 0 0 10 Sync0 Cycle Time UDINT 32 256 rw o 0 0 11 SM-Event missed UINT 16 288 ro o 0 0 12 Cycle time too small UINT 16 304 ro o 0 0 32 Sync Error BOOL 1 480 ro o 0 0 DT1c33 488 0 SubIndex 000 USINT 8 0 ro o 0 0 1 Synchronization Type UINT 16 16 rw o 0 0 2 Cycle Time UDINT 32 32 ro o 0 0 4 Synchronization Types supported UINT 16 96 ro o 0 0 5 Minimum Cycle Time UDINT 32 112 ro o 0 0 6 Calc and Copy Time UDINT 32 144 ro o 0 0 8 Get Cycle Time UINT 16 208 rw o 0 0 9 Delay Time UDINT 32 224 ro o 0 0 10 Sync0 Cycle Time UDINT 32 256 rw o 0 0 11 SM-Event missed UINT 16 288 ro o 0 0 12 Cycle time too small UINT 16 304 ro o 0 0 32 Sync Error BOOL 1 480 ro o 0 0 DT608f 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT608fARR 64 16 rw o TR 0 0 DT608fARR UDINT 64 1 2 DT6090 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6090ARR 64 16 rw o TR 0 0 DT6090ARR UDINT 64 1 2 DT6091 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6091ARR 64 16 rw o TR 0 0 DT6091ARR UDINT 64 1 2 DT6092 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6092ARR 64 16 rw o TR 0 0 DT6092ARR UDINT 64 1 2 DT6099 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT6099ARR 64 16 rw o TR 0 0 DT6099ARR UDINT 64 1 2 DT60fe 80 0 SubIndex 000 USINT 8 0 ro o 0 0 Elements DT60feARR 64 16 rw o TR 0 0 DT60feARR UDINT 64 1 2 #x1000 Device type UDINT 32 92010200 ro m TR 0 0 #x1001 Error register USINT 8 ro o 0 0 #x1008 Manufacturer device name STRING(11) 88 NRMK Drive ro o 0 0 #x1009 Manufacturer hardware version STRING(4) 32 0.2 ro o 0 0 #x100a Manufacturer software version STRING(4) 32 0.2 ro o 0 0 #x1018 Identity object DT1018 144 SubIndex 000 04 Vendor-ID 9A080000 Product code 00000030 Revision number 01000000 Serial number 00000000 ro o 0 0 #x10f1 Error Settings DT10f1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 ro o 0 0 #x1600 Drive RxPDO DT1600 176 SubIndex 000 00 FF 05 Control Word 10004060 Target Position 20007A60 Target Velocity 2000FF60 Target Torque 10007160 Mode Of Operation 08006060 rw o 0 0 #x1601 csp RxPDO DT1601 80 SubIndex 000 00 FF 02 Control Word 10004060 Target Position 20007A60 rw o 0 0 #x1602 csv RxPDO DT1602 80 SubIndex 000 00 FF 02 Control Word 10004060 Mapping Entry 2 2000FF60 rw o 0 0 #x1a00 Drive TxPDO DT1a00 176 SubIndex 000 00 08 05 Status Word 10004160 Position Actual Value 20006460 Velocity Actual Value 20006C60 Torque Actual Value 10007760 Mode Of Operation Display 08006160 rw o 0 0 #x1a01 csp TxPDO DT1a01 80 SubIndex 000 00 08 02 Status Word 10004160 Position Actual Value 20006460 rw o 0 0 #x1a02 csv TxPDO DT1a02 80 SubIndex 000 00 08 02 Status Word 10004160 Mapping Entry 2 20006C60 rw o 0 0 #x1c00 Sync Manager Communication Type DT1c00 48 SubIndex 000 00 08 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o 0 0 #x1c12 Sync Manager 2 PDO Assignment DT1c12 32 SubIndex 000 00 08 01 SubIndex 001 0016 ro o 0 0 #x1c13 Sync Manager 3 PDO Assignment DT1c13 32 SubIndex 000 00 08 01 SubIndex 001 001A ro o 0 0 #x1c32 Sync Manager 2 Synchronization DT1c32 488 SubIndex 000 00 08 20 Synchronization Type 1000 Cycle Time 20000000 Synchronization Types supported 1000 Minimum Cycle Time 20000000 Calc and Copy Time 20000000 Get Cycle Time 1000 Delay Time 20000000 Sync0 Cycle Time 20000000 SM-Event missed 1000 Cycle time too small 1000 Sync Error 01 ro o 0 0 #x1c33 Sync Manager 3 Synchronization DT1c33 488 SubIndex 000 00 08 20 Synchronization Type 1000 Cycle Time 20000000 Synchronization Types supported 1000 Minimum Cycle Time 20000000 Calc and Copy Time 20000000 Get Cycle Time 2000 Delay Time 10000000 Sync0 Cycle Time 20000000 SM-Event missed 2000 Cycle time too small 1000 Sync Error 01 ro o 0 0 #x603f error_code UINT 16 ro o TR 0 0 #x6040 controlword UINT 16 rw o TR 0 0 #x6041 statusword UINT 16 ro o TR 0 0 #x6060 modes_of_operation SINT 8 rw o TR 0 0 #x6061 modes_of_operation_display SINT 8 ro o TR 0 0 #x6062 position_demand_value DINT 32 ro o TR 0 0 #x6063 position_actual_internal_value DINT 32 ro o TR 0 0 #x6064 position_actual_value DINT 32 ro o TR 0 0 #x6065 following_error_window UDINT 32 rw o TR 0 0 #x6066 following_error_time_out UINT 16 rw o TR 0 0 #x6069 velocity_sensor_actual_value DINT 32 ro o TR 0 0 #x606a sensor_selection_code INT 16 rw o TR 0 0 #x606b velocity_demand_value DINT 32 ro o TR 0 0 #x606c velocity_actual_value DINT 32 ro o TR 0 0 #x606f velocity_threshold UINT 16 rw o TR 0 0 #x6070 velocity_threshold_time UINT 16 rw o TR 0 0 #x6071 target_torque INT 16 rw o TR 0 0 #x6072 max_torque UINT 16 rw o TR 0 0 #x6073 max_current UINT 16 rw o TR 0 0 #x6074 torque_demand INT 16 ro o TR 0 0 #x6075 motor_rated_current UDINT 32 rw o TR 0 0 #x6076 motor_rated_torque UDINT 32 rw o TR 0 0 #x6077 torque_actual_value INT 16 ro o TR 0 0 #x6078 current_actual_value INT 16 ro o TR 0 0 #x607a target_position DINT 32 rw o TR 0 0 #x607c home_offset DINT 32 rw o TR 0 0 #x607e polarity USINT 8 rw o TR 0 0 #x6080 max_motor_speed UDINT 32 rw o TR 0 0 #x608f position_encoder_resolution DT608f 80 SubIndex 000 02 SubIndex 001 SubIndex 002 ro o 0 0 #x6090 velocity_encoder_resolution DT6090 80 SubIndex 000 02 SubIndex 001 SubIndex 002 ro o 0 0 #x6091 gear_ratio DT6091 80 SubIndex 000 02 SubIndex 001 SubIndex 002 ro o 0 0 #x6092 feed_constant DT6092 80 SubIndex 000 02 SubIndex 001 SubIndex 002 ro o 0 0 #x6098 homing_method SINT 8 rw o TR 0 0 #x6099 homing_speeds DT6099 80 SubIndex 000 02 SubIndex 001 SubIndex 002 ro o 0 0 #x609a homing_acceleration UDINT 32 rw o TR 0 0 #x60b1 velocity_offset DINT 32 rw o TR 0 0 #x60b2 torque_offset INT 16 rw o TR 0 0 #x60b8 touch_probe_function UINT 16 rw o TR 0 0 #x60b9 touch_probe_status UINT 16 ro o TR 0 0 #x60ba touch_probe_pos_1_pos_value DINT 32 ro o TR 0 0 #x60bb touch_probe_pos_1_neg_value DINT 32 ro o TR 0 0 #x60fd digital_inputs UDINT 32 ro o TR 0 0 #x60fe digital_outputs DT60fe 80 SubIndex 000 02 SubIndex 001 SubIndex 002 ro o 0 0 #x60ff target_velocity DINT 32 rw o TR 0 0 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Drive RxPDO #x6040 0 16 controlword UINT #x607a 0 32 target_position DINT #x60ff 0 32 target_velocity DINT #x6071 0 16 target_torque INT #x6060 0 8 modes_of_operation SINT #x1601 csp RxPDO #x6040 0 16 controlword UINT #x607a 0 32 target_position DINT #x1602 csv RxPDO #x6040 0 16 controlword UINT #x60ff 0 32 target_velocity DINT #x1a00 Drive TxPDO #x6041 0 16 statusword UINT #x6064 0 32 position_actual_value DINT #x606c 0 32 velocity_actual_value DINT #x6077 0 16 torque_actual_value INT #x6061 0 8 modes_of_operation_display SINT #x1a01 csp TxPDO #x6041 0 16 statusword UINT #x6064 0 32 position_actual_value DINT #x1a02 csv TxPDO #x6041 0 16 statusword UINT #x606c 0 32 velocity_actual_value DINT 2048 003c0000ff0100000000 0010800000118000