2 Beckhoff Automation GmbH 424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9 DriveAxisModules Antriebs- und Achsmodule (EM7xxx) Drive and Axis Modules (EM7xxx) 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EM7004 EM7004 4-Axis Interface Unit EM7004 4-Achs Interface 210 DriveAxisModules 5001 700 BOOL 1 INT 16 DINT 32 USINT 8 UINT 16 UDINT 32 STRING(11) 88 STRING(16) 128 STRING(5) 40 DT0029 16 Free Run 0 Synchron 1 SYNC0 Event 2 DT1011ARR UDINT 32 1 1 DT1011 48 0 No of Elements USINT 8 0 ro Elements DT1011ARR 32 16 ro DT1018 144 0 No of Elements USINT 8 0 ro 1 Vendor Name UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT1600 528 0 No of Elements USINT 8 0 ro 1 RxPDO Mapping Element 1: Output 0 UDINT 32 16 ro 2 RxPDO Mapping Element 2: Output 1 UDINT 32 48 ro 3 RxPDO Mapping Element 3: Output 2 UDINT 32 80 ro 4 RxPDO Mapping Element 4: Output 3 UDINT 32 112 ro 5 RxPDO Mapping Element 5: Output 4 UDINT 32 144 ro 6 RxPDO Mapping Element 6: Output 5 UDINT 32 176 ro 7 RxPDO Mapping Element 7: Output 6 UDINT 32 208 ro 8 RxPDO Mapping Element 8: Output 7 UDINT 32 240 ro 9 RxPDO Mapping Element 9: Output 8 UDINT 32 272 ro 10 RxPDO Mapping Element 10: Output 9 UDINT 32 304 ro 11 RxPDO Mapping Element 11: Output 10 UDINT 32 336 ro 12 RxPDO Mapping Element 12: Output 11 UDINT 32 368 ro 13 RxPDO Mapping Element 13: Output 12 UDINT 32 400 ro 14 RxPDO Mapping Element 14: Output 13 UDINT 32 432 ro 15 RxPDO Mapping Element 15: Output 14 UDINT 32 464 ro 16 RxPDO Mapping Element 16: Output 15 UDINT 32 496 ro DT1601 48 0 No of Elements USINT 8 0 ro 1 RxPDO Mapping Element 1: Output UDINT 32 16 ro DT1605 80 0 No of Elements USINT 8 0 ro 1 RxPDO Mapping Element 1: Ctrl UDINT 32 16 ro 2 RxPDO Mapping Element 2: Value UDINT 32 48 ro DT1A00 528 0 No of Elements USINT 8 0 ro 1 TxPDO Mapping Element 1: Input 0 UDINT 32 16 ro 2 TxPDO Mapping Element 2: Input 1 UDINT 32 48 ro 3 TxPDO Mapping Element 3: Input 2 UDINT 32 80 ro 4 TxPDO Mapping Element 4: Input 3 UDINT 32 112 ro 5 TxPDO Mapping Element 5: Input 4 UDINT 32 144 ro 6 TxPDO Mapping Element 6: Input 5 UDINT 32 176 ro 7 TxPDO Mapping Element 7: Input 6 UDINT 32 208 ro 8 TxPDO Mapping Element 8: Input 7 UDINT 32 240 ro 9 TxPDO Mapping Element 9: Input 8 UDINT 32 272 ro 10 TxPDO Mapping Element 10: Input 9 UDINT 32 304 ro 11 TxPDO Mapping Element 11: Input 10 UDINT 32 336 ro 12 TxPDO Mapping Element 12: Input 11 UDINT 32 368 ro 13 TxPDO Mapping Element 13: Input 12 UDINT 32 400 ro 14 TxPDO Mapping Element 14: Input 13 UDINT 32 432 ro 15 TxPDO Mapping Element 15: Input 14 UDINT 32 464 ro 16 TxPDO Mapping Element 16: Input 15 UDINT 32 496 ro DT1A01 112 0 No of Elements USINT 8 0 ro 1 TxPDO Mapping Element 1: Status UDINT 32 16 ro 2 TxPDO Mapping Element 2: Value UDINT 32 48 ro 3 TxPDO Mapping Element 3: Latch UDINT 32 80 ro DT1C00ARR USINT 32 1 4 DT1C00 48 0 No of Elements USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12 160 0 No of Elements USINT 8 0 0 9 9 rw 1 Assigned RxPDO of Type 1, Channel 1 UINT 16 16 #x1600 #x1600 #x1600 rw 2 Assigned RxPDO of Type 2, Channel 2 UINT 16 32 #x1601 #x1601 #x1601 rw 3 Assigned RxPDO of Type 2, Channel 3 UINT 16 48 #x1602 #x1602 #x1602 rw 4 Assigned RxPDO of Type 2, Channel 4 UINT 16 64 #x1603 #x1603 #x1603 rw 5 Assigned RxPDO of Type 2, Channel 5 UINT 16 80 #x1604 #x1604 #x1604 rw 6 Assigned RxPDO of Type 3, Channel 6 UINT 16 96 #x1605 #x1605 #x1605 rw 7 Assigned RxPDO of Type 3, Channel 7 UINT 16 112 #x1606 #x1606 #x1606 rw 8 Assigned RxPDO of Type 3, Channel 8 UINT 16 128 #x1607 #x1607 #x1607 rw 9 Assigned RxPDO of Type 3, Channel 9 UINT 16 144 #x1608 #x1608 #x1608 rw DT1C13 96 0 No of Elements USINT 8 0 0 5 5 rw 1 Assigned TxPDO of Type 1, Channel 1 UINT 16 16 #x1600 #x1600 #x1600 rw 2 Assigned TxPDO of Type 3, Channel 2 UINT 16 32 #x1601 #x1601 #x1601 rw 3 Assigned TxPDO of Type 3, Channel 3 UINT 16 48 #x1602 #x1602 #x1602 rw 4 Assigned TxPDO of Type 3, Channel 4 UINT 16 64 #x1603 #x1603 #x1603 rw 5 Assigned TxPDO of Type 3, Channel 5 UINT 16 80 #x1604 #x1604 #x1604 rw DT6000 32 0 No of Elements USINT 8 0 ro 1 Input 0 BOOL 1 16 ro T 2 Input 1 BOOL 1 17 ro T 3 Input 2 BOOL 1 18 ro T 4 Input 3 BOOL 1 19 ro T 5 Input 4 BOOL 1 20 ro T 6 Input 5 BOOL 1 21 ro T 7 Input 6 BOOL 1 22 ro T 8 Input 7 BOOL 1 23 ro T 9 Input 8 BOOL 1 24 ro T 10 Input 9 BOOL 1 25 ro T 11 Input 10 BOOL 1 26 ro T 12 Input 11 BOOL 1 27 ro T 13 Input 12 BOOL 1 28 ro T 14 Input 13 BOOL 1 29 ro T 15 Input 14 BOOL 1 30 ro T 16 Input 15 BOOL 1 31 ro T DT6050 64 0 No of Elements USINT 8 0 ro 1 Status UINT 16 16 ro T 2 Value UINT 16 32 ro T 3 Latch UINT 16 48 ro T DT7000 32 0 No of Elements USINT 8 0 ro 1 Output 0 BOOL 1 16 ro R 2 Output 1 BOOL 1 17 ro R 3 Output 2 BOOL 1 18 ro R 4 Output 3 BOOL 1 19 ro R 5 Output 4 BOOL 1 20 ro R 6 Output 5 BOOL 1 21 ro R 7 Output 6 BOOL 1 22 ro R 8 Output 7 BOOL 1 23 ro R 9 Output 8 BOOL 1 24 ro R 10 Output 9 BOOL 1 25 ro R 11 Output 10 BOOL 1 26 ro R 12 Output 11 BOOL 1 27 ro R 13 Output 12 BOOL 1 28 ro R 14 Output 13 BOOL 1 29 ro R 15 Output 14 BOOL 1 30 ro R 16 Output 15 BOOL 1 31 ro R DT7010 32 0 No of Elements USINT 8 0 ro 1 Output INT 16 16 ro R DT7050 48 0 No of Elements USINT 8 0 ro 1 Ctrl UINT 16 16 ro R 2 Value UINT 16 32 ro R DT8010 21 0 No of Elements USINT 8 0 ro 1 Diasble watchdog timer BOOL 1 16 rw 2 Enable user default output BOOL 1 17 rw 3 Enable user scale BOOL 1 18 rw 4 Enable absolute value with MSB as sign BOOL 1 19 rw 5 Enable absolute value BOOL 1 20 rw DT8011 80 0 No of Elements USINT 8 0 ro 1 Offset INT 16 16 rw 2 Gain DINT 32 32 rw 3 Default output INT 16 64 rw DT8050 21 0 No of Elements USINT 8 0 ro 1 Enable F/R count BOOL 1 16 rw 2 Disable filter BOOL 1 17 rw 3 Enable pos. gate BOOL 1 18 rw 4 Enable neg. gate BOOL 1 19 rw 5 Latch on fall. egde BOOL 1 20 rw DT8410 48 0 No of Elements USINT 8 0 ro 1 Offset INT 16 16 32768 0 2048 rw 2 Gain UINT 16 32 #x00 #x00 32000 rw DTA010 32 0 No of Elements USINT 8 0 ro 1 DAC raw value INT 16 16 ro DTF000ARR USINT 8 1 1 DTF000 24 0 No of Elements USINT 8 0 ro Elements DTF000ARR 8 16 ro #x1000 Device Type UDINT 32 00000000 ro #x1008 Device Name STRING(11) 88 454d373030342d30303030 ro #x1009 Hardware Version STRING(16) 128 3031 ro #x100a Software Version STRING(5) 40 30302e3031 ro #x1011 Load Default Settings DT1011 48 010000000000 rw #x1018 Identity DT1018 144 0400020052345c1b00000b27000000000000 ro #x1600 Digital DT1600 528 1000010100700102007001030070010400700105007001060070010700700108007001090070010a0070010b0070010c0070010d0070010e0070010f007001100070 ro #x1601 Analog, Channel 1 DT1601 48 010010011070 ro #x1602 Analog, Channel 2 DT1601 48 010010012070 ro #x1603 Analog, Channel 3 DT1601 48 010010013070 ro #x1604 Analog, Channel 4 DT1601 48 010010014070 ro #x1605 Encoder, Channel 1 DT1605 80 02001001507010025070 ro #x1606 Encoder, Channel 2 DT1605 80 02001001607010026070 ro #x1607 Encoder, Channel 3 DT1605 80 02001001707010027070 ro #x1608 Encoder, Channel 4 DT1605 80 02001001807010028070 ro #x1a00 Digital DT1A00 528 1000010100600102006001030060010400600105006001060060010700600108006001090060010a0060010b0060010c0060010d0060010e0060010f006001100060 ro #x1a01 Encoder, Channel 1 DT1A01 112 0300100150601002506010035060 ro #x1a02 Encoder, Channel 2 DT1A01 112 0300100160601002606010036060 ro #x1a03 Encoder, Channel 3 DT1A01 112 0300100170601002706010037060 ro #x1a04 Encoder, Channel 4 DT1A01 112 0300100180601002806010038060 ro #x1c00 Sync Manager Type DT1C00 48 040001020304 ro #x1c01 Process Data Format UINT 16 0001 rw #x1c12 SM 002 RxPDO Assign DT1C12 160 0900001600160016001600160016001600160016 rw #x1c13 SM 003 TxPDO Assign DT1C13 96 050000160016001600160016 rw #x6000 Dig. Inputs DT6000 32 10000000 ro #x6050 Enc. Inputs Channel 001 DT6050 64 0300000000000000 ro #x6060 Enc. Inputs Channel 002 DT6050 64 0300000000000000 ro #x6070 Enc. Inputs Channel 003 DT6050 64 0300000000000000 ro #x6080 Enc. Inputs Channel 004 DT6050 64 0300000000000000 ro #x7000 Dig. Outputs DT7000 32 10000000 ro #x7010 An. Outputs Channel 001 DT7010 32 01000000 ro #x7020 An. Outputs Channel 002 DT7010 32 01000000 ro #x7030 An. Outputs Channel 003 DT7010 32 01000000 ro #x7040 An. Outputs Channel 004 DT7010 32 01000000 ro #x7050 Enc. Outputs Channel 001 DT7050 48 020000000000 ro #x7060 Enc. Outputs Channel 002 DT7050 48 020000000000 ro #x7070 Enc. Outputs Channel 003 DT7050 48 020000000000 ro #x7080 Enc. Outputs Channel 004 DT7050 48 020000000000 ro #x8010 An. Feature bits Channel 001 DT8010 21 050000 rw #x8020 An. Feature bits Channel 002 DT8010 21 050000 rw #x8030 An. Feature bits Channel 003 DT8010 21 050000 rw #x8040 An. Feature bits Channel 004 DT8010 21 050000 rw #x8011 An. User Settings Channel 001 DT8011 80 03000000000001000000 rw #x8021 An. User Settings Channel 002 DT8011 80 03000000000001000000 rw #x8031 An. User Settings Channel 003 DT8011 80 03000000000001000000 rw #x8041 An. User Settings Channel 004 DT8011 80 03000000000001000000 rw #x8050 Enc. Feature bits Channel 001 DT8050 21 050004 rw #x8060 Enc. Feature bits Channel 002 DT8050 21 050004 rw #x8070 Enc. Feature bits Channel 003 DT8050 21 050004 rw #x8080 Enc. Feature bits Channel 004 DT8050 21 050004 rw #x8410 An. Calibration data Channel 001 DT8410 48 02000008007d rw #x8420 An. Calibration data Channel 002 DT8410 48 02000008007d rw #x8430 An. Calibration data Channel 003 DT8410 48 02000008007d rw #x8440 An. Calibration data Channel 004 DT8410 48 02000008007d rw #xa010 An. Diagnostic Parameter Channel 001 DTA010 32 01000000 ro #xa020 An. Diagnostic Parameter Channel 002 DTA010 32 01000000 ro #xa030 An. Diagnostic Parameter Channel 003 DTA010 32 01000000 ro #xa040 An. Diagnostic Parameter Channel 004 DTA010 32 01000000 ro #xf000 Profile Settings DTF000 24 010010 ro #xf008 Code Word UDINT 32 00000000 rw Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Digital #x7000 1 1 Output 0 BOOL #x7000 2 1 Output 1 BOOL #x7000 3 1 Output 2 BOOL #x7000 4 1 Output 3 BOOL #x7000 5 1 Output 4 BOOL #x7000 6 1 Output 5 BOOL #x7000 7 1 Output 6 BOOL #x7000 8 1 Output 7 BOOL #x7000 9 1 Output 8 BOOL #x7000 10 1 Output 9 BOOL #x7000 11 1 Output 10 BOOL #x7000 12 1 Output 11 BOOL #x7000 13 1 Output 12 BOOL #x7000 14 1 Output 13 BOOL #x7000 15 1 Output 14 BOOL #x7000 16 1 Output 15 BOOL #x1601 Analog, Channel 1 #x7010 1 16 Output INT #x1602 Analog, Channel 2 #x7020 1 16 Output INT #x1603 Analog, Channel 3 #x7030 1 16 Output INT #x1604 Analog, Channel 4 #x7040 1 16 Output INT #x1605 Encoder, Channel 1 #x7050 1 16 Ctrl UINT #x7050 2 16 Value UINT #x1606 Encoder, Channel 2 #x7060 1 16 Ctrl UINT #x7060 2 16 Value UINT #x1607 Encoder, Channel 3 #x7070 1 16 Ctrl UINT #x7070 2 16 Value UINT #x1608 Encoder, Channel 4 #x7080 1 16 Ctrl UINT #x7080 2 16 Value UINT #x1a00 Digital #x6000 1 1 Input 0 BOOL #x6000 2 1 Input 1 BOOL #x6000 3 1 Input 2 BOOL #x6000 4 1 Input 3 BOOL #x6000 5 1 Input 4 BOOL #x6000 6 1 Input 5 BOOL #x6000 7 1 Input 6 BOOL #x6000 8 1 Input 7 BOOL #x6000 9 1 Input 8 BOOL #x6000 10 1 Input 9 BOOL #x6000 11 1 Input 10 BOOL #x6000 12 1 Input 11 BOOL #x6000 13 1 Input 12 BOOL #x6000 14 1 Input 13 BOOL #x6000 15 1 Input 14 BOOL #x6000 16 1 Input 15 BOOL #x1a01 Encoder, Channel 1 #x6050 1 16 Status UINT #x6050 2 16 Value UINT #x6050 3 16 Latch UINT #x1a02 Encoder, Channel 2 #x6060 1 16 Status UINT #x6060 2 16 Value UINT #x6060 3 16 Latch UINT #x1a03 Encoder, Channel 3 #x6070 1 16 Status UINT #x6070 2 16 Value UINT #x6070 3 16 Latch UINT #x1a04 Encoder, Channel 4 #x6080 1 16 Status UINT #x6080 2 16 Value UINT #x6080 3 16 Latch UINT 2048 050003080000 0012f400f412f400 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000808080808080808080808080808080808080808080808080808080808080808080808080808080808080808080808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c00077f00077f00077f0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080 EM7004 EM7004 4-Axis Interface Unit EM7004 4-Achs Interface 210 100 2000 DriveAxisModules 5001 100 5001 200 5001 400 5001 400 5001 400 5001 400 5001 510 5001 510 5001 510 5001 510 5001 511 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 USINT 8 STRING(16) 128 STRING(2) 16 STRING(5) 40 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN02 USINT 2 1-fold 0 2-fold 1 4-fold 3 DT0802EN02 USINT 2 Ch.1 0 Ch.2 1 Ch.3 2 Ch.4 3 DT0803EN03 USINT 3 Signed presentation 0 Enable absolute value with MSB as sign 2 Enable absolute value 3 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1600 528 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o 16 SubIndex 016 UDINT 32 496 ro o DT1601 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1605 208 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o DT1609 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1A01 400 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o DT1A05 112 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 160 1 10 DT1C12 176 0 SubIndex 000 USINT 8 0 ro o Elements DT1C12ARR 160 16 ro o DT1C13ARR UINT 96 1 6 DT1C13 112 0 SubIndex 000 USINT 8 0 ro o Elements DT1C13ARR 96 16 ro o DT6000 32 0 SubIndex 000 USINT 8 0 ro o 1 Input 0 BOOL 1 16 ro o T 2 Input 1 BOOL 1 17 ro o T 3 Input 2 BOOL 1 18 ro o T 4 Input 3 BOOL 1 19 ro o T 5 Input 4 BOOL 1 20 ro o T 6 Input 5 BOOL 1 21 ro o T 7 Input 6 BOOL 1 22 ro o T 8 Input 7 BOOL 1 23 ro o T 9 Input 8 BOOL 1 24 ro o T 10 Input 9 BOOL 1 25 ro o T 11 Input 10 BOOL 1 26 ro o T 12 Input 11 BOOL 1 27 ro o T 13 Input 12 BOOL 1 28 ro o T 14 Input 13 BOOL 1 29 ro o T 15 Input 14 BOOL 1 30 ro o T 16 Input 15 BOOL 1 31 ro o T DT6060 56 0 SubIndex 000 USINT 8 0 ro o 2 Latch extern valid BOOL 1 16 ro o T 3 Set counter done BOOL 1 17 ro o T 9 Status of input A BOOL 1 18 ro o T 10 Status of input B BOOL 1 19 ro o T 12 Status of input gate BOOL 1 20 ro o T 13 Status of extern latch BOOL 1 21 ro o T 17 Counter value UINT 16 24 ro o T 18 Latch value UINT 16 40 ro o T DT60A0 24 0 SubIndex 000 USINT 8 0 ro o 1 PLS Enabled BOOL 1 16 ro o T 2 Unequal SI:0 BOOL 1 17 ro o T DT7010 32 0 SubIndex 000 USINT 8 0 ro o 1 Output 0 BOOL 1 16 ro o R 2 Output 1 BOOL 1 17 ro o R 3 Output 2 BOOL 1 18 ro o R 4 Output 3 BOOL 1 19 ro o R 5 Output 4 BOOL 1 20 ro o R 6 Output 5 BOOL 1 21 ro o R 7 Output 6 BOOL 1 22 ro o R 8 Output 7 BOOL 1 23 ro o R 9 Output 8 BOOL 1 24 ro o R 10 Output 9 BOOL 1 25 ro o R 11 Output 10 BOOL 1 26 ro o R 12 Output 11 BOOL 1 27 ro o R 13 Output 12 BOOL 1 28 ro o R 14 Output 13 BOOL 1 29 ro o R 15 Output 14 BOOL 1 30 ro o R 16 Output 15 BOOL 1 31 ro o R DT7020 32 0 SubIndex 000 USINT 8 0 ro o 11 Analog output INT 16 16 ro o R DT7060 40 0 SubIndex 000 USINT 8 0 ro o 2 Enable latch extern on positive edge BOOL 1 16 ro o R 3 Set counter BOOL 1 17 ro o R 4 Enable latch extern on negative edge BOOL 1 18 ro o R 17 Set counter value UINT 16 24 ro o R DT70A0 24 0 SubIndex 000 USINT 8 0 ro o 1 Enable PLS BOOL 1 16 ro o R DT8020 88 0 SubIndex 000 USINT 8 0 ro o 1 Enable user scale BOOL 1 16 rw o 1 1 2 Presentation DT0803EN03 3 17 rw o 1 1 5 Disable watchdog BOOL 1 20 rw o 1 1 6 Enable user default output BOOL 1 21 rw o 1 1 17 Offset INT 16 24 rw o 1 1 18 Gain DINT 32 40 rw o 1 1 19 Default output INT 16 72 rw o 1 1 DT802E 32 0 SubIndex 000 USINT 8 0 ro o 1 DAC raw value INT 16 16 ro o DT802F 48 0 SubIndex 000 USINT 8 0 ro o 1 Calibration offset INT 16 16 rw o 2 Calibration gain INT 16 32 rw o DT8060 24 0 SubIndex 000 USINT 8 0 ro o 3 Enable up/down counter BOOL 1 16 rw o 1 1 4 Gate polarity DT0800EN02 2 17 rw o 1 1 6 Evaluation mode DT0801EN02 2 19 rw o 1 1 DT80A0 56 0 SubIndex 000 USINT 8 0 ro o 1 Encoder as PLS source DT0802EN02 2 16 rw o 1 17 Output mask UINT 16 24 rw o 1 18 Default output UINT 16 40 rw o 1 DT80A1ARR UINT 1200 1 75 DT80A1 1216 0 SubIndex 000 USINT 8 0 rw o Elements DT80A1ARR 1200 16 rw o DT80A2ARR UINT 1200 1 75 DT80A2 1216 0 SubIndex 000 USINT 8 0 rw o Elements DT80A2ARR 1200 16 rw o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module object distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UINT 176 1 11 DTF010 192 0 SubIndex 000 USINT 8 0 ro o Elements DTF010ARR 176 16 ro o #x1000 Device type UDINT 32 89130000 ro o #x1008 Device name STRING(16) 128 454d373030342d303030302d39393936 ro o #x1009 Hardware version STRING(2) 16 3031 ro o #x100a Software version STRING(5) 40 30302e3032 ro o #x1011 Load default settings DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 52345c1b Revision 00000c27 Serial number 00000000 ro o #x1100 Backup parameter checksum UDINT 32 00000000 ro o #x1600 DO RxPDO DT1600 528 SubIndex 000 10 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 01051070 SubIndex 006 01061070 SubIndex 007 01071070 SubIndex 008 01081070 SubIndex 009 01091070 SubIndex 010 010a1070 SubIndex 011 010b1070 SubIndex 012 010c1070 SubIndex 013 010d1070 SubIndex 014 010e1070 SubIndex 015 010f1070 SubIndex 016 01101070 ro o #x1601 AO RxPDO Ch.1 DT1601 48 SubIndex 000 01 SubIndex 001 100b2070 ro o #x1602 AO RxPDO Ch.2 DT1601 48 SubIndex 000 01 SubIndex 001 100b3070 ro o #x1603 AO RxPDO Ch.3 DT1601 48 SubIndex 000 01 SubIndex 001 100b4070 ro o #x1604 AO RxPDO Ch.4 DT1601 48 SubIndex 000 01 SubIndex 001 100b5070 ro o #x1605 ENC RxPDO Ch.1 DT1605 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01026070 SubIndex 003 01036070 SubIndex 004 01046070 SubIndex 005 0c000000 SubIndex 006 10116070 ro o #x1606 ENC RxPDO Ch.2 DT1605 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01027070 SubIndex 003 01037070 SubIndex 004 01047070 SubIndex 005 0c000000 SubIndex 006 10117070 ro o #x1607 ENC RxPDO Ch.3 DT1605 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01028070 SubIndex 003 01038070 SubIndex 004 01048070 SubIndex 005 0c000000 SubIndex 006 10118070 ro o #x1608 ENC RxPDO Ch.4 DT1605 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01029070 SubIndex 003 01039070 SubIndex 004 01049070 SubIndex 005 0c000000 SubIndex 006 10119070 ro o #x1609 PLS RxPDO DT1609 80 SubIndex 000 02 SubIndex 001 0101a070 SubIndex 002 0f000000 ro o #x1a00 DI TxPDO DT1600 528 SubIndex 000 10 SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 01040060 SubIndex 005 01050060 SubIndex 006 01060060 SubIndex 007 01070060 SubIndex 008 01080060 SubIndex 009 01090060 SubIndex 010 010a0060 SubIndex 011 010b0060 SubIndex 012 010c0060 SubIndex 013 010d0060 SubIndex 014 010e0060 SubIndex 015 010f0060 SubIndex 016 01100060 ro o #x1a01 ENC TxPDO Ch.1 DT1A01 400 SubIndex 000 0c SubIndex 001 01000000 SubIndex 002 01026060 SubIndex 003 01036060 SubIndex 004 05000000 SubIndex 005 01096060 SubIndex 006 010a6060 SubIndex 007 01000000 SubIndex 008 010c6060 SubIndex 009 010d6060 SubIndex 010 03000000 SubIndex 011 10116060 SubIndex 012 10126060 ro o #x1a02 ENC TxPDO Ch.2 DT1A01 400 SubIndex 000 0c SubIndex 001 01000000 SubIndex 002 01027060 SubIndex 003 01037060 SubIndex 004 05000000 SubIndex 005 01097060 SubIndex 006 010a7060 SubIndex 007 01000000 SubIndex 008 010c7060 SubIndex 009 010d7060 SubIndex 010 03000000 SubIndex 011 10117060 SubIndex 012 10127060 ro o #x1a03 ENC TxPDO Ch.3 DT1A01 400 SubIndex 000 0c SubIndex 001 01000000 SubIndex 002 01028060 SubIndex 003 01038060 SubIndex 004 05000000 SubIndex 005 01098060 SubIndex 006 010a8060 SubIndex 007 01000000 SubIndex 008 010c8060 SubIndex 009 010d8060 SubIndex 010 03000000 SubIndex 011 10118060 SubIndex 012 10128060 ro o #x1a04 ENC TxPDO Ch.4 DT1A01 400 SubIndex 000 0c SubIndex 001 01000000 SubIndex 002 01029060 SubIndex 003 01039060 SubIndex 004 05000000 SubIndex 005 01099060 SubIndex 006 010a9060 SubIndex 007 01000000 SubIndex 008 010c9060 SubIndex 009 010d9060 SubIndex 010 03000000 SubIndex 011 10119060 SubIndex 012 10129060 ro o #x1a05 PLS TxPDO DT1A05 112 SubIndex 000 03 SubIndex 001 0101a060 SubIndex 002 0102a060 SubIndex 003 0e000000 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 176 SubIndex 000 0a SubIndex 001 0016 SubIndex 002 0116 SubIndex 003 0216 SubIndex 004 0316 SubIndex 005 0416 SubIndex 006 0516 SubIndex 007 0616 SubIndex 008 0716 SubIndex 009 0816 SubIndex 010 0916 ro o #x1c13 TxPDO assign DT1C13 112 SubIndex 000 06 SubIndex 001 001a SubIndex 002 011a SubIndex 003 021a SubIndex 004 031a SubIndex 005 041a SubIndex 006 051a ro o #x6000 DI Inputs DT6000 32 SubIndex 000 10 Input 0 00 Input 1 00 Input 2 00 Input 3 00 Input 4 00 Input 5 00 Input 6 00 Input 7 00 Input 8 00 Input 9 00 Input 10 00 Input 11 00 Input 12 00 Input 13 00 Input 14 00 Input 15 00 ro o #x6060 ENC Inputs Ch.1 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6070 ENC Inputs Ch.2 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6080 ENC Inputs Ch.3 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6090 ENC Inputs Ch.4 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x60a0 PLS Inputs DT60A0 24 SubIndex 000 02 PLS Enabled 00 Unequal SI:0 00 ro o #x7010 DO Outputs DT7010 32 SubIndex 000 10 ro o #x7020 AO Outputs Ch.1 DT7020 32 SubIndex 000 0b Analog output 0000 ro o #x7030 AO Outputs Ch.2 DT7020 32 SubIndex 000 0b Analog output 0000 ro o #x7040 AO Outputs Ch.3 DT7020 32 SubIndex 000 0b Analog output 0000 ro o #x7050 AO Outputs Ch.4 DT7020 32 SubIndex 000 0b Analog output 0000 ro o #x7060 ENC Outputs Ch.1 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7070 ENC Outputs Ch.2 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7080 ENC Outputs Ch.3 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7090 ENC Outputs Ch.4 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x70a0 PLS Outputs DT70A0 24 SubIndex 000 01 Enable PLS 00 ro o #x8020 AO Settings Ch.1 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x802e AO Internal data Ch.1 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x802f AO Vendor data Ch.1 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8030 AO Settings Ch.2 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x803e AO Internal data Ch.2 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x803f AO Vendor data Ch.2 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8040 AO Settings Ch.3 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x804e AO Internal data Ch.3 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x804f AO Vendor data Ch.3 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8050 AO Settings Ch.4 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x805e AO Internal data Ch.4 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x805f AO Vendor data Ch.4 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8060 ENC Settings Ch.1 DT8060 24 SubIndex 000 06 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8070 ENC Settings Ch.2 DT8060 24 SubIndex 000 06 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8080 ENC Settings Ch.3 DT8060 24 SubIndex 000 06 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8090 ENC Settings Ch.4 DT8060 24 SubIndex 000 06 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x80a0 PLS Settings DT80A0 56 SubIndex 000 12 Encoder as PLS source 00 Output mask 0000 Default output 0000 ro o #x80a1 PLS Switch values DT80A1 1216 SubIndex 000 00 rw o #x80a2 PLS Output data DT80A2 1216 SubIndex 000 00 rw o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module object distance 1000 Maximum number of modules 0b00 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Channel profiles DTF010 192 SubIndex 000 0b SubIndex 001 6400 SubIndex 002 c800 SubIndex 003 9001 SubIndex 004 9001 SubIndex 005 9001 SubIndex 006 9001 SubIndex 007 fe01 SubIndex 008 fe01 SubIndex 009 fe01 SubIndex 010 fe01 SubIndex 011 ff01 ro o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1601 DO Outputs #x7010 1 1 Output 0 BOOL #x7010 2 1 Output 1 BOOL #x7010 3 1 Output 2 BOOL #x7010 4 1 Output 3 BOOL #x7010 5 1 Output 4 BOOL #x7010 6 1 Output 5 BOOL #x7010 7 1 Output 6 BOOL #x7010 8 1 Output 7 BOOL #x7010 9 1 Output 8 BOOL #x7010 10 1 Output 9 BOOL #x7010 11 1 Output 10 BOOL #x7010 12 1 Output 11 BOOL #x7010 13 1 Output 12 BOOL #x7010 14 1 Output 13 BOOL #x7010 15 1 Output 14 BOOL #x7010 16 1 Output 15 BOOL #x1602 AO Outputs Channel 1 #x7020 11 16 Analog output INT #x1603 AO Outputs Channel 2 #x7030 11 16 Analog output INT #x1604 AO Outputs Channel 3 #x7040 11 16 Analog output INT #x1605 AO Outputs Channel 4 #x7050 11 16 Analog output INT #x1606 ENC Outputs Channel 1 #x0 0 1 #x7060 2 1 Enable latch extern on positive edge BOOL #x7060 3 1 Set counter BOOL #x7060 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7060 17 16 Set counter value UINT #x1607 ENC Outputs Channel 2 #x0 0 1 #x7070 2 1 Enable latch extern on positive edge BOOL #x7070 3 1 Set counter BOOL #x7070 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7070 17 16 Set counter value UINT #x1608 ENC Outputs Channel 3 #x0 0 1 #x7080 2 1 Enable latch extern on positive edge BOOL #x7080 3 1 Set counter BOOL #x7080 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7080 17 16 Set counter value UINT #x1609 ENC Outputs Channel 4 #x0 0 1 #x7090 2 1 Enable latch extern on positive edge BOOL #x7090 3 1 Set counter BOOL #x7090 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7090 17 16 Set counter value UINT #x160a PLS Outputs #x70a0 1 1 Enable PLS BOOL #x0 0 15 #x1a00 DI Inputs #x6000 1 1 Input 0 BOOL #x6000 2 1 Input 1 BOOL #x6000 3 1 Input 2 BOOL #x6000 4 1 Input 3 BOOL #x6000 5 1 Input 4 BOOL #x6000 6 1 Input 5 BOOL #x6000 7 1 Input 6 BOOL #x6000 8 1 Input 7 BOOL #x6000 9 1 Input 8 BOOL #x6000 10 1 Input 9 BOOL #x6000 11 1 Input 10 BOOL #x6000 12 1 Input 11 BOOL #x6000 13 1 Input 12 BOOL #x6000 14 1 Input 13 BOOL #x6000 15 1 Input 14 BOOL #x6000 16 1 Input 15 BOOL #x1a06 ENC Inputs Channel 1 #x0 0 1 #x6060 2 1 Latch extern valid BOOL #x6060 3 1 Set counter done BOOL #x0 0 5 #x6060 9 1 Status of input A BOOL #x6060 10 1 Status of input B BOOL #x0 0 1 #x6060 12 1 Status of input gate BOOL #x6060 13 1 Status of extern latch BOOL #x0 0 3 #x6060 17 16 Counter value UINT #x6060 18 16 Latch value UINT #x1a07 ENC Inputs Channel 2 #x0 0 1 #x6070 2 1 Latch extern valid BOOL #x6070 3 1 Set counter done BOOL #x0 0 5 #x6070 9 1 Status of input A BOOL #x6070 10 1 Status of input B BOOL #x0 0 1 #x6070 12 1 Status of input gate BOOL #x6070 13 1 Status of extern latch BOOL #x0 0 3 #x6070 17 16 Counter value UINT #x6070 18 16 Latch value UINT #x1a08 ENC Inputs Channel 3 #x0 0 1 #x6080 2 1 Latch extern valid BOOL #x6080 3 1 Set counter done BOOL #x0 0 5 #x6080 9 1 Status of input A BOOL #x6080 10 1 Status of input B BOOL #x0 0 1 #x6080 12 1 Status of input gate BOOL #x6080 13 1 Status of extern latch BOOL #x0 0 3 #x6080 17 16 Counter value UINT #x6080 18 16 Latch value UINT #x1a09 ENC Inputs Channel 4 #x0 0 1 #x6090 2 1 Latch extern valid BOOL #x6090 3 1 Set counter done BOOL #x0 0 5 #x6090 9 1 Status of input A BOOL #x6090 10 1 Status of input B BOOL #x0 0 1 #x6090 12 1 Status of input gate BOOL #x6090 13 1 Status of extern latch BOOL #x0 0 3 #x6090 17 16 Counter value UINT #x6090 18 16 Latch value UINT #x1a0a PLS Inputs #x60a0 1 1 PLS Enabled BOOL #x60a0 2 1 Unequal SI:0 BOOL #x0 0 14 2048 0500030800000000000000000000 0010f400f410f400 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000808080808080808080808080808080808080808080808080808080808080808080808080808080808080808080808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c00077f00077f00077f0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080 EM7004 EM7004 4-Axis Interface Unit EM7004 4-Achs Interface 210 100 2000 DriveAxisModules 5001 100 X0/X1 DigIn 5001 200 X2/X3 DigOut 5001 400 X4: Axis 1 5001 400 X5: Axis 2 5001 400 X6: Axis 3 5001 400 X7: Axis 4 5001 511 X4: Axis 1 5001 511 X5: Axis 2 5001 511 X6: Axis 3 5001 511 X7: Axis 4 5001 512 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 USINT 8 STRING(16) 128 STRING(2) 16 STRING(5) 40 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN02 USINT 2 1-fold 0 2-fold 1 4-fold 3 DT0802EN02 USINT 2 Ch.1 0 Ch.2 1 Ch.3 2 Ch.4 3 DT0803EN03 USINT 3 Signed presentation 0 Enable absolute value with MSB as sign 2 Enable absolute value 3 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1600 528 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o 16 SubIndex 016 UDINT 32 496 ro o DT1601 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1605 208 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o DT1609 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1A01 400 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o DT1A05 112 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 160 1 10 DT1C12 176 0 SubIndex 000 USINT 8 0 ro o Elements DT1C12ARR 160 16 ro o DT1C13ARR UINT 96 1 6 DT1C13 112 0 SubIndex 000 USINT 8 0 ro o Elements DT1C13ARR 96 16 ro o DT6000 32 0 SubIndex 000 USINT 8 0 ro o 1 Input 0 BOOL 1 16 ro o T 2 Input 1 BOOL 1 17 ro o T 3 Input 2 BOOL 1 18 ro o T 4 Input 3 BOOL 1 19 ro o T 5 Input 4 BOOL 1 20 ro o T 6 Input 5 BOOL 1 21 ro o T 7 Input 6 BOOL 1 22 ro o T 8 Input 7 BOOL 1 23 ro o T 9 Input 8 BOOL 1 24 ro o T 10 Input 9 BOOL 1 25 ro o T 11 Input 10 BOOL 1 26 ro o T 12 Input 11 BOOL 1 27 ro o T 13 Input 12 BOOL 1 28 ro o T 14 Input 13 BOOL 1 29 ro o T 15 Input 14 BOOL 1 30 ro o T 16 Input 15 BOOL 1 31 ro o T DT6060 56 0 SubIndex 000 USINT 8 0 ro o 2 Latch extern valid BOOL 1 16 ro o T 3 Set counter done BOOL 1 17 ro o T 9 Status of input A BOOL 1 18 ro o T 10 Status of input B BOOL 1 19 ro o T 12 Status of input gate BOOL 1 20 ro o T 13 Status of extern latch BOOL 1 21 ro o T 17 Counter value UINT 16 24 ro o T 18 Latch value UINT 16 40 ro o T DT60A0 24 0 SubIndex 000 USINT 8 0 ro o 1 PLS Enabled BOOL 1 16 ro o T 2 Unequal SI:0 BOOL 1 17 ro o T DT7010 32 0 SubIndex 000 USINT 8 0 ro o 1 Output 0 BOOL 1 16 ro o R 2 Output 1 BOOL 1 17 ro o R 3 Output 2 BOOL 1 18 ro o R 4 Output 3 BOOL 1 19 ro o R 5 Output 4 BOOL 1 20 ro o R 6 Output 5 BOOL 1 21 ro o R 7 Output 6 BOOL 1 22 ro o R 8 Output 7 BOOL 1 23 ro o R 9 Output 8 BOOL 1 24 ro o R 10 Output 9 BOOL 1 25 ro o R 11 Output 10 BOOL 1 26 ro o R 12 Output 11 BOOL 1 27 ro o R 13 Output 12 BOOL 1 28 ro o R 14 Output 13 BOOL 1 29 ro o R 15 Output 14 BOOL 1 30 ro o R 16 Output 15 BOOL 1 31 ro o R DT7020 32 0 SubIndex 000 USINT 8 0 ro o 17 Analog output INT 16 16 ro o R DT7060 40 0 SubIndex 000 USINT 8 0 ro o 2 Enable latch extern on positive edge BOOL 1 16 ro o R 3 Set counter BOOL 1 17 ro o R 4 Enable latch extern on negative edge BOOL 1 18 ro o R 17 Set counter value UINT 16 24 ro o R DT70A0 24 0 SubIndex 000 USINT 8 0 ro o 1 Enable PLS BOOL 1 16 ro o R DT8020 88 0 SubIndex 000 USINT 8 0 ro o 1 Enable user scale BOOL 1 16 rw o 1 1 2 Presentation DT0803EN03 3 17 rw o 1 1 5 Disable watchdog BOOL 1 20 rw o 1 1 6 Enable user default output BOOL 1 21 rw o 1 1 17 Offset INT 16 24 rw o 1 1 18 Gain DINT 32 40 rw o 1 1 19 Default output INT 16 72 rw o 1 1 DT802E 32 0 SubIndex 000 USINT 8 0 ro o 1 DAC raw value INT 16 16 ro o DT802F 48 0 SubIndex 000 USINT 8 0 ro o 1 Calibration offset INT 16 16 rw o 2 Calibration gain INT 16 32 rw o DT8060 24 0 SubIndex 000 USINT 8 0 ro o 3 Enable up/down counter BOOL 1 16 rw o 1 1 4 Gate polarity DT0800EN02 2 17 rw o 1 1 6 Evaluation mode DT0801EN02 2 19 rw o 1 1 DT80A0 56 0 SubIndex 000 USINT 8 0 ro o 1 Encoder as PLS source DT0802EN02 2 16 rw o 1 17 Output mask UINT 16 24 rw o 1 18 Default output UINT 16 40 rw o 1 DT80A1ARR UINT 1200 1 75 DT80A1 1216 0 SubIndex 000 USINT 8 0 rw o Elements DT80A1ARR 1200 16 rw o DT80A2ARR UINT 1200 1 75 DT80A2 1216 0 SubIndex 000 USINT 8 0 rw o Elements DT80A2ARR 1200 16 rw o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module object distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UINT 176 1 11 DTF010 192 0 SubIndex 000 USINT 8 0 ro o Elements DTF010ARR 176 16 ro o #x1000 Device type UDINT 32 89130000 ro o #x1008 Device name STRING(16) 128 454d373030342d303030302d39393937 ro o #x1009 Hardware version STRING(2) 16 3031 ro o #x100a Software version STRING(5) 40 30302e3033 ro o #x1011 Load default settings DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 52345c1b Revision 00000d27 Serial number 00000000 ro o #x1100 Backup parameter checksum UDINT 32 00000000 ro o #x1600 DO RxPDO DT1600 528 SubIndex 000 10 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 01051070 SubIndex 006 01061070 SubIndex 007 01071070 SubIndex 008 01081070 SubIndex 009 01091070 SubIndex 010 010a1070 SubIndex 011 010b1070 SubIndex 012 010c1070 SubIndex 013 010d1070 SubIndex 014 010e1070 SubIndex 015 010f1070 SubIndex 016 01101070 ro o #x1601 AO RxPDO Ch.1 DT1601 48 SubIndex 000 01 SubIndex 001 10112070 ro o #x1602 AO RxPDO Ch.2 DT1601 48 SubIndex 000 01 SubIndex 001 10113070 ro o #x1603 AO RxPDO Ch.3 DT1601 48 SubIndex 000 01 SubIndex 001 10114070 ro o #x1604 AO RxPDO Ch.4 DT1601 48 SubIndex 000 01 SubIndex 001 10115070 ro o #x1605 ENC RxPDO Ch.1 DT1605 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01026070 SubIndex 003 01036070 SubIndex 004 01046070 SubIndex 005 0c000000 SubIndex 006 10116070 ro o #x1606 ENC RxPDO Ch.2 DT1605 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01027070 SubIndex 003 01037070 SubIndex 004 01047070 SubIndex 005 0c000000 SubIndex 006 10117070 ro o #x1607 ENC RxPDO Ch.3 DT1605 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01028070 SubIndex 003 01038070 SubIndex 004 01048070 SubIndex 005 0c000000 SubIndex 006 10118070 ro o #x1608 ENC RxPDO Ch.4 DT1605 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01029070 SubIndex 003 01039070 SubIndex 004 01049070 SubIndex 005 0c000000 SubIndex 006 10119070 ro o #x1609 PLS RxPDO DT1609 80 SubIndex 000 02 SubIndex 001 0101a070 SubIndex 002 0f000000 ro o #x1a00 DI TxPDO DT1600 528 SubIndex 000 10 SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 01040060 SubIndex 005 01050060 SubIndex 006 01060060 SubIndex 007 01070060 SubIndex 008 01080060 SubIndex 009 01090060 SubIndex 010 010a0060 SubIndex 011 010b0060 SubIndex 012 010c0060 SubIndex 013 010d0060 SubIndex 014 010e0060 SubIndex 015 010f0060 SubIndex 016 01100060 ro o #x1a01 ENC TxPDO Ch.1 DT1A01 400 SubIndex 000 0c SubIndex 001 01000000 SubIndex 002 01026060 SubIndex 003 01036060 SubIndex 004 05000000 SubIndex 005 01096060 SubIndex 006 010a6060 SubIndex 007 01000000 SubIndex 008 010c6060 SubIndex 009 010d6060 SubIndex 010 03000000 SubIndex 011 10116060 SubIndex 012 10126060 ro o #x1a02 ENC TxPDO Ch.2 DT1A01 400 SubIndex 000 0c SubIndex 001 01000000 SubIndex 002 01027060 SubIndex 003 01037060 SubIndex 004 05000000 SubIndex 005 01097060 SubIndex 006 010a7060 SubIndex 007 01000000 SubIndex 008 010c7060 SubIndex 009 010d7060 SubIndex 010 03000000 SubIndex 011 10117060 SubIndex 012 10127060 ro o #x1a03 ENC TxPDO Ch.3 DT1A01 400 SubIndex 000 0c SubIndex 001 01000000 SubIndex 002 01028060 SubIndex 003 01038060 SubIndex 004 05000000 SubIndex 005 01098060 SubIndex 006 010a8060 SubIndex 007 01000000 SubIndex 008 010c8060 SubIndex 009 010d8060 SubIndex 010 03000000 SubIndex 011 10118060 SubIndex 012 10128060 ro o #x1a04 ENC TxPDO Ch.4 DT1A01 400 SubIndex 000 0c SubIndex 001 01000000 SubIndex 002 01029060 SubIndex 003 01039060 SubIndex 004 05000000 SubIndex 005 01099060 SubIndex 006 010a9060 SubIndex 007 01000000 SubIndex 008 010c9060 SubIndex 009 010d9060 SubIndex 010 03000000 SubIndex 011 10119060 SubIndex 012 10129060 ro o #x1a05 PLS TxPDO DT1A05 112 SubIndex 000 03 SubIndex 001 0101a060 SubIndex 002 0102a060 SubIndex 003 0e000000 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 176 SubIndex 000 0a SubIndex 001 0016 SubIndex 002 0116 SubIndex 003 0216 SubIndex 004 0316 SubIndex 005 0416 SubIndex 006 0516 SubIndex 007 0616 SubIndex 008 0716 SubIndex 009 0816 SubIndex 010 0916 ro o #x1c13 TxPDO assign DT1C13 112 SubIndex 000 06 SubIndex 001 001a SubIndex 002 011a SubIndex 003 021a SubIndex 004 031a SubIndex 005 041a SubIndex 006 051a ro o #x6000 DI Inputs DT6000 32 SubIndex 000 10 Input 0 00 Input 1 00 Input 2 00 Input 3 00 Input 4 00 Input 5 00 Input 6 00 Input 7 00 Input 8 00 Input 9 00 Input 10 00 Input 11 00 Input 12 00 Input 13 00 Input 14 00 Input 15 00 ro o #x6060 ENC Inputs Ch.1 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6070 ENC Inputs Ch.2 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6080 ENC Inputs Ch.3 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6090 ENC Inputs Ch.4 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x60a0 PLS Inputs DT60A0 24 SubIndex 000 02 PLS Enabled 00 Unequal SI:0 00 ro o #x7010 DO Outputs DT7010 32 SubIndex 000 10 ro o #x7020 AO Outputs Ch.1 DT7020 32 SubIndex 000 11 Analog output 0000 ro o #x7030 AO Outputs Ch.2 DT7020 32 SubIndex 000 11 Analog output 0000 ro o #x7040 AO Outputs Ch.3 DT7020 32 SubIndex 000 11 Analog output 0000 ro o #x7050 AO Outputs Ch.4 DT7020 32 SubIndex 000 11 Analog output 0000 ro o #x7060 ENC Outputs Ch.1 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7070 ENC Outputs Ch.2 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7080 ENC Outputs Ch.3 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7090 ENC Outputs Ch.4 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x70a0 PLS Outputs DT70A0 24 SubIndex 000 01 Enable PLS 00 ro o #x8020 AO Settings Ch.1 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x802e AO Internal data Ch.1 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x802f AO Vendor data Ch.1 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8030 AO Settings Ch.2 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x803e AO Internal data Ch.2 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x803f AO Vendor data Ch.2 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8040 AO Settings Ch.3 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x804e AO Internal data Ch.3 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x804f AO Vendor data Ch.3 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8050 AO Settings Ch.4 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x805e AO Internal data Ch.4 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x805f AO Vendor data Ch.4 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8060 ENC Settings Ch.1 DT8060 24 SubIndex 000 06 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8070 ENC Settings Ch.2 DT8060 24 SubIndex 000 06 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8080 ENC Settings Ch.3 DT8060 24 SubIndex 000 06 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8090 ENC Settings Ch.4 DT8060 24 SubIndex 000 06 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x80a0 PLS Settings DT80A0 56 SubIndex 000 12 Encoder as PLS source 00 Output mask 0000 Default output 0000 ro o #x80a1 PLS Switch values DT80A1 1216 SubIndex 000 00 rw o #x80a2 PLS Output data DT80A2 1216 SubIndex 000 00 rw o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module object distance 1000 Maximum number of modules 0b00 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Channel profiles DTF010 192 SubIndex 000 0b SubIndex 001 6400 SubIndex 002 c800 SubIndex 003 9001 SubIndex 004 9001 SubIndex 005 9001 SubIndex 006 9001 SubIndex 007 ff01 SubIndex 008 ff01 SubIndex 009 ff01 SubIndex 010 ff01 SubIndex 011 0002 ro o Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1601 DO Outputs #x7010 1 1 Output 0 BOOL #x7010 2 1 Output 1 BOOL #x7010 3 1 Output 2 BOOL #x7010 4 1 Output 3 BOOL #x7010 5 1 Output 4 BOOL #x7010 6 1 Output 5 BOOL #x7010 7 1 Output 6 BOOL #x7010 8 1 Output 7 BOOL #x7010 9 1 Output 8 BOOL #x7010 10 1 Output 9 BOOL #x7010 11 1 Output 10 BOOL #x7010 12 1 Output 11 BOOL #x7010 13 1 Output 12 BOOL #x7010 14 1 Output 13 BOOL #x7010 15 1 Output 14 BOOL #x7010 16 1 Output 15 BOOL #x1602 AO Outputs Channel 1 #x7020 17 16 Analog output INT #x1603 AO Outputs Channel 2 #x7030 17 16 Analog output INT #x1604 AO Outputs Channel 3 #x7040 17 16 Analog output INT #x1605 AO Outputs Channel 4 #x7050 17 16 Analog output INT #x1606 ENC Outputs Channel 1 #x0 0 1 #x7060 2 1 Enable latch extern on positive edge BOOL #x7060 3 1 Set counter BOOL #x7060 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7060 17 16 Set counter value UINT #x1607 ENC Outputs Channel 2 #x0 0 1 #x7070 2 1 Enable latch extern on positive edge BOOL #x7070 3 1 Set counter BOOL #x7070 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7070 17 16 Set counter value UINT #x1608 ENC Outputs Channel 3 #x0 0 1 #x7080 2 1 Enable latch extern on positive edge BOOL #x7080 3 1 Set counter BOOL #x7080 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7080 17 16 Set counter value UINT #x1609 ENC Outputs Channel 4 #x0 0 1 #x7090 2 1 Enable latch extern on positive edge BOOL #x7090 3 1 Set counter BOOL #x7090 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7090 17 16 Set counter value UINT #x160a PLS Outputs #x70a0 1 1 Enable PLS BOOL #x0 0 15 #x1a00 DI Inputs #x6000 1 1 Input 0 BOOL #x6000 2 1 Input 1 BOOL #x6000 3 1 Input 2 BOOL #x6000 4 1 Input 3 BOOL #x6000 5 1 Input 4 BOOL #x6000 6 1 Input 5 BOOL #x6000 7 1 Input 6 BOOL #x6000 8 1 Input 7 BOOL #x6000 9 1 Input 8 BOOL #x6000 10 1 Input 9 BOOL #x6000 11 1 Input 10 BOOL #x6000 12 1 Input 11 BOOL #x6000 13 1 Input 12 BOOL #x6000 14 1 Input 13 BOOL #x6000 15 1 Input 14 BOOL #x6000 16 1 Input 15 BOOL #x1a06 ENC Inputs Channel 1 #x0 0 1 #x6060 2 1 Latch extern valid BOOL #x6060 3 1 Set counter done BOOL #x0 0 5 #x6060 9 1 Status of input A BOOL #x6060 10 1 Status of input B BOOL #x0 0 1 #x6060 12 1 Status of input gate BOOL #x6060 13 1 Status of extern latch BOOL #x0 0 3 #x6060 17 16 Counter value UINT #x6060 18 16 Latch value UINT #x1a07 ENC Inputs Channel 2 #x0 0 1 #x6070 2 1 Latch extern valid BOOL #x6070 3 1 Set counter done BOOL #x0 0 5 #x6070 9 1 Status of input A BOOL #x6070 10 1 Status of input B BOOL #x0 0 1 #x6070 12 1 Status of input gate BOOL #x6070 13 1 Status of extern latch BOOL #x0 0 3 #x6070 17 16 Counter value UINT #x6070 18 16 Latch value UINT #x1a08 ENC Inputs Channel 3 #x0 0 1 #x6080 2 1 Latch extern valid BOOL #x6080 3 1 Set counter done BOOL #x0 0 5 #x6080 9 1 Status of input A BOOL #x6080 10 1 Status of input B BOOL #x0 0 1 #x6080 12 1 Status of input gate BOOL #x6080 13 1 Status of extern latch BOOL #x0 0 3 #x6080 17 16 Counter value UINT #x6080 18 16 Latch value UINT #x1a09 ENC Inputs Channel 4 #x0 0 1 #x6090 2 1 Latch extern valid BOOL #x6090 3 1 Set counter done BOOL #x0 0 5 #x6090 9 1 Status of input A BOOL #x6090 10 1 Status of input B BOOL #x0 0 1 #x6090 12 1 Status of input gate BOOL #x6090 13 1 Status of extern latch BOOL #x0 0 3 #x6090 17 16 Counter value UINT #x6090 18 16 Latch value UINT #x1a0a PLS Inputs #x60a0 1 1 PLS Enabled BOOL #x60a0 2 1 Unequal SI:0 BOOL #x0 0 14 2048 0500030800000000000000000000 0010f400f410f400 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000808080808080808080808080808080808080808080808080808080808080808080808080808080808080808080808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c00077f00077f00077f0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080 EM7004 EM7004 4-Axis Interface Unit EM7004 4-Achs Interface 280 100 2000 DriveAxisModules 5001 100 X0/X1 DigIn 5001 200 X2/X3 DigOut 5001 400 X4: Axis 1 5001 400 X5: Axis 2 5001 400 X6: Axis 3 5001 400 X7: Axis 4 5001 511 X4: Axis 1 5001 511 X5: Axis 2 5001 511 X6: Axis 3 5001 511 X7: Axis 4 5001 512 BIT2 0 BIT3 0 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 USINT 8 STRING(2) 16 STRING(6) 48 DT0800EN02 USINT 2 Disable gate 0 Enable pos. gate 1 Enable neg. gate 2 DT0801EN02 USINT 2 1-fold 0 2-fold 1 4-fold 3 DT0802EN02 USINT 2 Ch.1 0 Ch.2 1 Ch.3 2 Ch.4 3 DT0803EN03 USINT 3 Signed presentation 0 Enable absolute value with MSB as sign 2 Enable absolute value 3 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1601 528 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o 14 SubIndex 014 UDINT 32 432 ro o 15 SubIndex 015 UDINT 32 464 ro o 16 SubIndex 016 UDINT 32 496 ro o DT1602 48 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o DT1606 208 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o DT160A 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1A06 432 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o DT1A0A 112 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 160 1 10 DT1C12 176 0 SubIndex 000 USINT 8 0 ro o Elements DT1C12ARR 160 16 ro o DT1C13ARR UINT 96 1 6 DT1C13 112 0 SubIndex 000 USINT 8 0 ro o Elements DT1C13ARR 96 16 ro o DT1C32 280 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 176 rw o 9 Delay time UDINT 32 192 ro o 11 SM event missed counter UINT 16 224 ro o 12 Cycle exceeded counter UINT 16 240 ro o 13 Shift too short counter UINT 16 256 ro o 32 Sync error BOOL 1 272 ro o DT1C33 280 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 ro o 2 Cycle time UDINT 32 32 ro o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 176 ro o 9 Delay time UDINT 32 192 ro o 11 SM event missed counter UINT 16 224 ro o 12 Cycle exceeded counter UINT 16 240 ro o 13 Shift too short counter UINT 16 256 ro o 32 Sync error BOOL 1 272 ro o DT6000 32 0 SubIndex 000 USINT 8 0 ro o 1 Input 0 BOOL 1 16 ro o T 2 Input 1 BOOL 1 17 ro o T 3 Input 2 BOOL 1 18 ro o T 4 Input 3 BOOL 1 19 ro o T 5 Input 4 BOOL 1 20 ro o T 6 Input 5 BOOL 1 21 ro o T 7 Input 6 BOOL 1 22 ro o T 8 Input 7 BOOL 1 23 ro o T 9 Input 8 BOOL 1 24 ro o T 10 Input 9 BOOL 1 25 ro o T 11 Input 10 BOOL 1 26 ro o T 12 Input 11 BOOL 1 27 ro o T 13 Input 12 BOOL 1 28 ro o T 14 Input 13 BOOL 1 29 ro o T 15 Input 14 BOOL 1 30 ro o T 16 Input 15 BOOL 1 31 ro o T DT6060 56 0 SubIndex 000 USINT 8 0 ro o 2 Latch extern valid BOOL 1 16 ro o T 3 Set counter done BOOL 1 17 ro o T 9 Status of input A BOOL 1 18 ro o T 10 Status of input B BOOL 1 19 ro o T 12 Status of input gate BOOL 1 20 ro o T 13 Status of extern latch BOOL 1 21 ro o T 16 TxPDO Toggle BOOL 1 22 ro o T 17 Counter value UINT 16 24 ro o T 18 Latch value UINT 16 40 ro o T DT60A0 24 0 SubIndex 000 USINT 8 0 ro o 1 PLS Enabled BOOL 1 16 ro o T 2 Unequal SI:0 BOOL 1 17 ro o T DT7010 32 0 SubIndex 000 USINT 8 0 ro o 1 Output 0 BOOL 1 16 ro o R 2 Output 1 BOOL 1 17 ro o R 3 Output 2 BOOL 1 18 ro o R 4 Output 3 BOOL 1 19 ro o R 5 Output 4 BOOL 1 20 ro o R 6 Output 5 BOOL 1 21 ro o R 7 Output 6 BOOL 1 22 ro o R 8 Output 7 BOOL 1 23 ro o R 9 Output 8 BOOL 1 24 ro o R 10 Output 9 BOOL 1 25 ro o R 11 Output 10 BOOL 1 26 ro o R 12 Output 11 BOOL 1 27 ro o R 13 Output 12 BOOL 1 28 ro o R 14 Output 13 BOOL 1 29 ro o R 15 Output 14 BOOL 1 30 ro o R 16 Output 15 BOOL 1 31 ro o R DT7020 32 0 SubIndex 000 USINT 8 0 ro o 17 Analog output INT 16 16 ro o R DT7060 40 0 SubIndex 000 USINT 8 0 ro o 2 Enable latch extern on positive edge BOOL 1 16 ro o R 3 Set counter BOOL 1 17 ro o R 4 Enable latch extern on negative edge BOOL 1 18 ro o R 17 Set counter value UINT 16 24 ro o R DT70A0 24 0 SubIndex 000 USINT 8 0 ro o 1 Enable PLS BOOL 1 16 ro o R DT8020 88 0 SubIndex 000 USINT 8 0 ro o 1 Enable user scale BOOL 1 16 rw o 1 1 2 Presentation DT0803EN03 3 17 rw o 1 1 5 Disable watchdog BOOL 1 20 rw o 1 1 6 Enable user default output BOOL 1 21 rw o 1 1 17 Offset INT 16 24 rw o 1 1 18 Gain DINT 32 40 rw o 1 1 19 Default output INT 16 72 rw o 1 1 DT802E 32 0 SubIndex 000 USINT 8 0 ro o 1 DAC raw value INT 16 16 ro o DT802F 48 0 SubIndex 000 USINT 8 0 ro o 1 Calibration offset INT 16 16 rw o 2 Calibration gain INT 16 32 rw o DT8060 24 0 SubIndex 000 USINT 8 0 ro o 2 Enable reset BOOL 1 16 rw o 1 1 3 Enable up/down counter BOOL 1 17 rw o 1 1 4 Gate polarity DT0800EN02 2 18 rw o 1 1 6 Evaluation mode DT0801EN02 2 20 rw o 1 1 DT80A0 56 0 SubIndex 000 USINT 8 0 ro o 1 Encoder as PLS source DT0802EN02 2 16 rw o 1 17 Output mask UINT 16 24 rw o 1 18 Default output UINT 16 40 rw o 1 DT80A1ARR UINT 1200 1 75 DT80A1 1216 0 SubIndex 000 USINT 8 0 rw o 1 Elements DT80A1ARR 1200 16 rw o 1 DT80A2ARR UINT 1200 1 75 DT80A2 1216 0 SubIndex 000 USINT 8 0 rw o 1 Elements DT80A2ARR 1200 16 rw o 1 DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UINT 176 1 11 DTF010 192 0 SubIndex 000 USINT 8 0 ro o Elements DTF010ARR 176 16 ro o #x1000 Device type UDINT 32 89130000 ro o #x1008 Device name STRING(6) 48 454d37303034 ro o #x1009 Hardware version STRING(2) 16 3032 ro o #x100a Software version STRING(2) 16 3031 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 52345c1b Revision 00001000 Serial number 00000000 ro o #x10f0 Backup parameter DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1601 DO RxPDO-Map DT1601 528 SubIndex 000 10 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 01041070 SubIndex 005 01051070 SubIndex 006 01061070 SubIndex 007 01071070 SubIndex 008 01081070 SubIndex 009 01091070 SubIndex 010 010a1070 SubIndex 011 010b1070 SubIndex 012 010c1070 SubIndex 013 010d1070 SubIndex 014 010e1070 SubIndex 015 010f1070 SubIndex 016 01101070 ro o #x1602 AO RxPDO-Map Ch.1 DT1602 48 SubIndex 000 01 SubIndex 001 10112070 ro o #x1603 AO RxPDO-Map Ch.2 DT1602 48 SubIndex 000 01 SubIndex 001 10113070 ro o #x1604 AO RxPDO-Map Ch.3 DT1602 48 SubIndex 000 01 SubIndex 001 10114070 ro o #x1605 AO RxPDO-Map Ch.4 DT1602 48 SubIndex 000 01 SubIndex 001 10115070 ro o #x1606 ENC RxPDO-Map Ch.1 DT1606 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01026070 SubIndex 003 01036070 SubIndex 004 01046070 SubIndex 005 0c000000 SubIndex 006 10116070 ro o #x1607 ENC RxPDO-Map Ch.2 DT1606 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01027070 SubIndex 003 01037070 SubIndex 004 01047070 SubIndex 005 0c000000 SubIndex 006 10117070 ro o #x1608 ENC RxPDO-Map Ch.3 DT1606 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01028070 SubIndex 003 01038070 SubIndex 004 01048070 SubIndex 005 0c000000 SubIndex 006 10118070 ro o #x1609 ENC RxPDO-Map Ch.4 DT1606 208 SubIndex 000 06 SubIndex 001 01000000 SubIndex 002 01029070 SubIndex 003 01039070 SubIndex 004 01049070 SubIndex 005 0c000000 SubIndex 006 10119070 ro o #x160a PLS RxPDO-Map DT160A 80 SubIndex 000 02 SubIndex 001 0101a070 SubIndex 002 0f000000 ro o #x1a00 DI TxPDO-Map DT1601 528 SubIndex 000 10 SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 01040060 SubIndex 005 01050060 SubIndex 006 01060060 SubIndex 007 01070060 SubIndex 008 01080060 SubIndex 009 01090060 SubIndex 010 010a0060 SubIndex 011 010b0060 SubIndex 012 010c0060 SubIndex 013 010d0060 SubIndex 014 010e0060 SubIndex 015 010f0060 SubIndex 016 01100060 ro o #x1a06 ENC TxPDO-Map Ch.1 DT1A06 432 SubIndex 000 0d SubIndex 001 01000000 SubIndex 002 01026060 SubIndex 003 01036060 SubIndex 004 05000000 SubIndex 005 01096060 SubIndex 006 010a6060 SubIndex 007 01000000 SubIndex 008 010c6060 SubIndex 009 010d6060 SubIndex 010 02000000 SubIndex 011 01090618 SubIndex 012 10116060 SubIndex 013 10126060 ro o #x1a07 ENC TxPDO-Map Ch.2 DT1A06 432 SubIndex 000 0d SubIndex 001 01000000 SubIndex 002 01027060 SubIndex 003 01037060 SubIndex 004 05000000 SubIndex 005 01097060 SubIndex 006 010a7060 SubIndex 007 01000000 SubIndex 008 010c7060 SubIndex 009 010d7060 SubIndex 010 02000000 SubIndex 011 01090718 SubIndex 012 10117060 SubIndex 013 10127060 ro o #x1a08 ENC TxPDO-Map Ch.3 DT1A06 432 SubIndex 000 0d SubIndex 001 01000000 SubIndex 002 01028060 SubIndex 003 01038060 SubIndex 004 05000000 SubIndex 005 01098060 SubIndex 006 010a8060 SubIndex 007 01000000 SubIndex 008 010c8060 SubIndex 009 010d8060 SubIndex 010 02000000 SubIndex 011 01090818 SubIndex 012 10118060 SubIndex 013 10128060 ro o #x1a09 ENC TxPDO-Map Ch.4 DT1A06 432 SubIndex 000 0d SubIndex 001 01000000 SubIndex 002 01029060 SubIndex 003 01039060 SubIndex 004 05000000 SubIndex 005 01099060 SubIndex 006 010a9060 SubIndex 007 01000000 SubIndex 008 010c9060 SubIndex 009 010d9060 SubIndex 010 02000000 SubIndex 011 01090918 SubIndex 012 10119060 SubIndex 013 10129060 ro o #x1a0a PLS TxPDO-Map DT1A0A 112 SubIndex 000 03 SubIndex 001 0101a060 SubIndex 002 0102a060 SubIndex 003 0e000000 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 176 SubIndex 000 0a SubIndex 001 0116 SubIndex 002 0216 SubIndex 003 0316 SubIndex 004 0416 SubIndex 005 0516 SubIndex 006 0616 SubIndex 007 0716 SubIndex 008 0816 SubIndex 009 0916 SubIndex 010 0a16 ro o #x1c13 TxPDO assign DT1C13 112 SubIndex 000 06 SubIndex 001 001a SubIndex 002 061a SubIndex 003 071a SubIndex 004 081a SubIndex 005 091a SubIndex 006 0a1a ro o #x1c32 SM output parameter DT1C32 280 SubIndex 000 07 Sync mode 0100 Cycle time 00000000 Shift time 00000000 Sync modes supported 0780 Minimum cycle time 00000000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C33 280 SubIndex 000 07 Sync mode 2200 Cycle time 00000000 Shift time 00000000 Sync modes supported 0780 Minimum cycle time 00000000 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 DI Inputs DT6000 32 SubIndex 000 10 Input 0 00 Input 1 00 Input 2 00 Input 3 00 Input 4 00 Input 5 00 Input 6 00 Input 7 00 Input 8 00 Input 9 00 Input 10 00 Input 11 00 Input 12 00 Input 13 00 Input 14 00 Input 15 00 ro o #x6060 ENC Inputs Ch.1 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6070 ENC Inputs Ch.2 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6080 ENC Inputs Ch.3 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x6090 ENC Inputs Ch.4 DT6060 56 SubIndex 000 12 Latch extern valid 00 Set counter done 00 Status of input A 00 Status of input B 00 Status of input gate 00 Status of extern latch 00 Counter value 0000 Latch value 0000 ro o #x60a0 PLS Inputs DT60A0 24 SubIndex 000 02 PLS Enabled 00 Unequal SI:0 00 ro o #x7010 DO Outputs DT7010 32 SubIndex 000 10 ro o #x7020 AO Outputs Ch.1 DT7020 32 SubIndex 000 11 Analog output 0000 ro o #x7030 AO Outputs Ch.2 DT7020 32 SubIndex 000 11 Analog output 0000 ro o #x7040 AO Outputs Ch.3 DT7020 32 SubIndex 000 11 Analog output 0000 ro o #x7050 AO Outputs Ch.4 DT7020 32 SubIndex 000 11 Analog output 0000 ro o #x7060 ENC Outputs Ch.1 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7070 ENC Outputs Ch.2 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7080 ENC Outputs Ch.3 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x7090 ENC Outputs Ch.4 DT7060 40 SubIndex 000 11 Enable latch extern on positive edge 00 Set counter 00 Enable latch extern on negative edge 00 Set counter value 0000 ro o #x70a0 PLS Outputs DT70A0 24 SubIndex 000 01 Enable PLS 00 ro o #x8020 AO Settings Ch.1 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x802e AO Internal data Ch.1 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x802f AO Vendor data Ch.1 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8030 AO Settings Ch.2 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x803e AO Internal data Ch.2 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x803f AO Vendor data Ch.2 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8040 AO Settings Ch.3 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x804e AO Internal data Ch.3 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x804f AO Vendor data Ch.3 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8050 AO Settings Ch.4 DT8020 88 SubIndex 000 13 Enable user scale 00 Presentation 00 Disable watchdog 00 Enable user default output 00 Offset 0000 Gain 00000100 Default output 0000 ro o #x805e AO Internal data Ch.4 DT802E 32 SubIndex 000 01 DAC raw value 0000 ro o #x805f AO Vendor data Ch.4 DT802F 48 SubIndex 000 02 Calibration offset 0008 Calibration gain 007d ro o #x8060 ENC Settings Ch.1 DT8060 24 SubIndex 000 06 Enable reset 00 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8070 ENC Settings Ch.2 DT8060 24 SubIndex 000 06 Enable reset 00 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8080 ENC Settings Ch.3 DT8060 24 SubIndex 000 06 Enable reset 00 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x8090 ENC Settings Ch.4 DT8060 24 SubIndex 000 06 Enable reset 00 Enable up/down counter 00 Gate polarity 01 Evaluation mode 03 ro o #x80a0 PLS Settings DT80A0 56 SubIndex 000 12 Encoder as PLS source 00 Output mask 0000 Default output 0000 ro o #x80a1 PLS Switch values DT80A1 1216 SubIndex 000 0 75 0 rw o #x80a2 PLS Output data DT80A2 1216 SubIndex 000 0 75 0 rw o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0b00 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Module list DTF010 192 SubIndex 000 0b SubIndex 001 6400 SubIndex 002 c800 SubIndex 003 9001 SubIndex 004 9001 SubIndex 005 9001 SubIndex 006 9001 SubIndex 007 ff01 SubIndex 008 ff01 SubIndex 009 ff01 SubIndex 010 ff01 SubIndex 011 0002 ro o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1601 DO Outputs #x7010 1 1 Output 0 BOOL #x7010 2 1 Output 1 BOOL #x7010 3 1 Output 2 BOOL #x7010 4 1 Output 3 BOOL #x7010 5 1 Output 4 BOOL #x7010 6 1 Output 5 BOOL #x7010 7 1 Output 6 BOOL #x7010 8 1 Output 7 BOOL #x7010 9 1 Output 8 BOOL #x7010 10 1 Output 9 BOOL #x7010 11 1 Output 10 BOOL #x7010 12 1 Output 11 BOOL #x7010 13 1 Output 12 BOOL #x7010 14 1 Output 13 BOOL #x7010 15 1 Output 14 BOOL #x7010 16 1 Output 15 BOOL #x1602 AO Outputs Channel 1 #x7020 17 16 Analog output INT #x1603 AO Outputs Channel 2 #x7030 17 16 Analog output INT #x1604 AO Outputs Channel 3 #x7040 17 16 Analog output INT #x1605 AO Outputs Channel 4 #x7050 17 16 Analog output INT #x1606 ENC Outputs Channel 1 #x0 0 1 #x7060 2 1 Enable latch extern on positive edge BOOL #x7060 3 1 Set counter BOOL #x7060 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7060 17 16 Set counter value UINT #x1607 ENC Outputs Channel 2 #x0 0 1 #x7070 2 1 Enable latch extern on positive edge BOOL #x7070 3 1 Set counter BOOL #x7070 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7070 17 16 Set counter value UINT #x1608 ENC Outputs Channel 3 #x0 0 1 #x7080 2 1 Enable latch extern on positive edge BOOL #x7080 3 1 Set counter BOOL #x7080 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7080 17 16 Set counter value UINT #x1609 ENC Outputs Channel 4 #x0 0 1 #x7090 2 1 Enable latch extern on positive edge BOOL #x7090 3 1 Set counter BOOL #x7090 4 1 Enable latch extern on negative edge BOOL #x0 0 12 #x7090 17 16 Set counter value UINT #x160a PLS Outputs #x70a0 1 1 Enable PLS BOOL #x0 0 15 #x1a00 DI Inputs #x6000 1 1 Input 0 BOOL #x6000 2 1 Input 1 BOOL #x6000 3 1 Input 2 BOOL #x6000 4 1 Input 3 BOOL #x6000 5 1 Input 4 BOOL #x6000 6 1 Input 5 BOOL #x6000 7 1 Input 6 BOOL #x6000 8 1 Input 7 BOOL #x6000 9 1 Input 8 BOOL #x6000 10 1 Input 9 BOOL #x6000 11 1 Input 10 BOOL #x6000 12 1 Input 11 BOOL #x6000 13 1 Input 12 BOOL #x6000 14 1 Input 13 BOOL #x6000 15 1 Input 14 BOOL #x6000 16 1 Input 15 BOOL #x1a06 ENC Inputs Channel 1 #x0 0 1 #x6060 2 1 Latch extern valid BOOL #x6060 3 1 Set counter done BOOL #x0 0 5 #x6060 9 1 Status of input A BOOL #x6060 10 1 Status of input B BOOL #x0 0 1 #x6060 12 1 Status of input gate BOOL #x6060 13 1 Status of extern latch BOOL #x0 0 2 #x1806 9 1 TxPDO Toggle BOOL #x6060 17 16 Counter value UINT #x6060 18 16 Latch value UINT #x1a07 ENC Inputs Channel 2 #x0 0 1 #x6070 2 1 Latch extern valid BOOL #x6070 3 1 Set counter done BOOL #x0 0 5 #x6070 9 1 Status of input A BOOL #x6070 10 1 Status of input B BOOL #x0 0 1 #x6070 12 1 Status of input gate BOOL #x6070 13 1 Status of extern latch BOOL #x0 0 2 #x1807 9 1 TxPDO Toggle BOOL #x6070 17 16 Counter value UINT #x6070 18 16 Latch value UINT #x1a08 ENC Inputs Channel 3 #x0 0 1 #x6080 2 1 Latch extern valid BOOL #x6080 3 1 Set counter done BOOL #x0 0 5 #x6080 9 1 Status of input A BOOL #x6080 10 1 Status of input B BOOL #x0 0 1 #x6080 12 1 Status of input gate BOOL #x6080 13 1 Status of extern latch BOOL #x0 0 2 #x1808 9 1 TxPDO Toggle BOOL #x6080 17 16 Counter value UINT #x6080 18 16 Latch value UINT #x1a09 ENC Inputs Channel 4 #x0 0 1 #x6090 2 1 Latch extern valid BOOL #x6090 3 1 Set counter done BOOL #x0 0 5 #x6090 9 1 Status of input A BOOL #x6090 10 1 Status of input B BOOL #x0 0 1 #x6090 12 1 Status of input gate BOOL #x6090 13 1 Status of extern latch BOOL #x0 0 2 #x1809 9 1 TxPDO Toggle BOOL #x6090 17 16 Counter value UINT #x6090 18 16 Latch value UINT #x1a0a PLS Inputs #x60a0 1 1 PLS Enabled BOOL #x60a0 2 1 Unequal SI:0 BOOL #x0 0 14 2048 0500038800000000000000000000 0010f400f410f400 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000808080808080808080808080808080808080808080808080808080808080808080808080808080808080808080808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c00077f00077f00077f0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080