12. Communication Protocol
24600
24602
24603
24604
24605
24606
24607
24608
24610
24614
24616
24618
24620
24622
24624
24626
24628
24632
24634
24636
24639
24641
24643
24645
0x6018
0x601A
0x601B
0x601C
0x601D
0x601E
0x601F
0x6020
0x6022
0x6026
0x6028
0x602A
0x602C
0x602E
0x6030
0x6032
0x6034
0x6038
0x603A
0x603C
0x603F
0x6041
0x6043
0x6045
Speed Actual Value
0x606C
DINT
-
-
-
UU/s
RO
Speed Window
0x606D
UINT
20000
0
65535
UU/s
RW
Speed Window Time
0x606E
UINT
0
0
65535
ms
RW
Target Torque
0x6071
INT
0
-5000
5000
0.1%
RW
Maximum Torque
0x6072
UINT
3000
0
5000
0.1%
RW
Torque Demand Value
0x6074
INT
-
-
-
0.1%
RO
Torque Actual Value
0x6077
INT
-
-
-
0.1%
RO
Target Position
0x607A
DINT
-
214748364
0
214748364
UU
RW
7
8
Home Offset
0x607C
DINT
-
0
536870911
UU
RW
536870912
-
-
107374182
Software Position Limit (Min)
0x607D:01
DINT
107374182
UU
RW
20000000000
4
4
-
107374182
Software Position Limit (Max)
0x607D:02
DINT 20000000000 107374182
UU
RW
4
4
Max Profile Speed
0x7FFFFFF
0x607F
DINT 0x7FFFFFFF
0
UU/s
RW
F
Profile Speed
0x6081
DINT
200000
0x7FFFFFF
0
UU/s
RW
F
Profile Acceleration
0x6083
DINT
200000
0x7FFFFFF
0
UU/s2
RW
F
Profile Deceleration
0x6084
DINT
200000
0x7FFFFFF
0
UU/s2
RW
F
Quick Stop Deceleration
0x6085
DINT
2000
0x7FFFFFF
0
UU/s2
RW
F
Torque Slope
0x6087
DINT
1000
0x7FFFFFF 0.1%/
0
RW
F
s
Gear Ratio (Motor revolutions)
0x6091:01
UDINT
1
0
0x40000000
-
RO
Gear Ratio (Shaft revolutions)
0x6091:02
UDINT
1
0
0x40000000
-
RO
Homing Method
0x6098
INT
34
-128
127
-
RW
Homing Speed (switch)
0x6099:01
DINT
500000
0
0x40000000 UU/s
RW
Homing Speed (zero)
0x6099:02
DINT
100000
0
0x40000000 UU/s
RW
Homing Acceleration
0x609A
UDINT
200000
0
0x40000000 UU/s2
RW
Position Offset
0x60B0
DINT
0
-
214748364
UU
RW
15-28
